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+version https://git-lfs.github.com/spec/v1 +oid sha256:2a7860acadefa17fdc091ec077dc77da537d827b2c1da34a51496330ff3d8315 +size 12263090 diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/config.yml b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/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_can_basket/ARX-X5/meta/info.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5453dadd8a7d40d08f0cc8472bdb4491f9529635 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "place_can_basket", + "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_can_basket/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b7d3335e2299a2abc02601329412ebe1044b8d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the compact metal drink can with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Pick up the metallic can with rounded edges using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to take the metallic soda can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the red and gold cylindrical can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red and gold cylindrical can, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Lift the red can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Drop the gold-decorated aluminum can into the woven basket using the right arm, then lift the woven basket with another arm.", + "Take the red can with gold illustrations in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Take the metallic soda can, set it into the brown basket, and raise the brown basket.", + "Grab the red can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Grab the bright red drink container can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Take the palm-sized drink can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Pick the red can with gold illustrations with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the red and gold cylindrical can, put it in the brown basket, and lift the brown basket.", + "Grab the red and gold cylindrical can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Pick the smooth red soda can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the red beverage can with curved top with the right arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Grab the metallic can with rounded edges, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Grab the palm-sized drink can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Use the same arm to grab the palm-sized drink can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the palm-sized drink can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Lift the red can with gold illustrations with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Place the red beverage can with curved top inside the brown basket, then lift the brown basket.", + "Pick up the bright red drink container can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Pick up the compact metal drink can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the bright red drink container can using the right arm, drop the bright red drink container can into the basket for holding items and lift the basket for holding items.", + "Pick the red can using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the right arm to grab the compact metal drink can, put it into the woven basket, and lift the woven basket with another arm.", + "Lift the palm-sized drink can, place it in the basket for holding items, and raise the basket for holding items.", + "Grab and drop the metallic soda can in the brown basket, lift the brown basket.", + "Lift the metallic can with rounded edges, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Use the right arm for the red and gold cylindrical can, place the red and gold cylindrical can in the basket with handle, and lift the basket with handle.", + "Take the red and gold cylindrical can with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick the palm-sized drink can, set it in the basket with handle, and lift the basket with handle upward.", + "Use the right arm to grab the metallic soda can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Grab the red can with gold illustrations, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Use the right arm to grab the red can and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the right arm to pick the bright red drink container can, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Hold the red can with gold illustrations using the right arm, place it in the woven basket, and lift the woven basket.", + "Grab the metallic soda can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Place the metallic can with rounded edges in the brown basket and then use another arm to lift the brown basket.", + "Lift the smooth red soda can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Lift the red can, drop it into the woven basket, then carry the woven basket.", + "Pick the gold patterned beverage can with the right arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Take the palm-sized drink can and put it in the brown basket, then lift the brown basket.", + "Pick up the bright red drink container can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the basket made of woven wood, and lift the basket made of woven wood.", + "Place the metallic can with rounded edges in the basket with loop handle and then lift the basket with loop handle.", + "Use the right arm to grab the red and gold cylindrical can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the red beverage can with curved top, place it in the woven basket, and then lift the woven basket.", + "Pick up the red and gold cylindrical can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Pick up the bright red drink container can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the right arm to take the gold-decorated aluminum can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the bright red drink container can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth red soda can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Lift the smooth red soda can, place it inside the woven basket, and elevate the woven basket.", + "Drop the metallic soda can into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Take the compact metal drink can in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Take the bright red drink container can, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the metallic can with rounded edges, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the compact metal drink can, place it in the woven basket, and raise the woven basket using the other arm.", + "Take the red can, place it into the basket for holding items, then lift the basket for holding items.", + "Pick the red beverage can with curved top with the right arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick up the metallic soda can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the palm-sized drink can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Pick the gold-decorated aluminum can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the gold-decorated aluminum can with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the palm-sized drink can, place it in the basket for holding items, and then lift the basket for holding items.", + "Grab the bright red drink container can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Use the same arm to grab the bright red drink container can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the smooth red soda can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Lift the palm-sized drink can with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Place the red and gold cylindrical can inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the red can, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the red can with gold illustrations, place it into the woven basket, then lift the woven basket.", + "Grab the red and gold cylindrical can using the right arm, drop the red and gold cylindrical can into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Pick the red and gold cylindrical can using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Use the right arm to grab the metallic soda can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Lift the red and gold cylindrical can, place it in the basket for holding items, and raise the basket for holding items.", + "Grab and drop the metallic can with rounded edges in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Lift the red can with gold illustrations, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the compact metal drink can with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the gold patterned beverage can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Use the right arm to grab the bright red drink container can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Grab the palm-sized drink can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Use the right arm to grab the red beverage can with curved top and place in the woven basket, lift the woven basket with another arm.", + "Use the right arm to pick the red can with gold illustrations, place it inside the brown basket, then lift the brown basket.", + "Hold the metallic soda can using the right arm, place it in the woven basket, and lift the woven basket.", + "Grab the red and gold cylindrical can, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Place the compact metal drink can in the woven basket and then use another arm to lift the woven basket.", + "Lift the compact metal drink can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Lift the bright red drink container can, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Pick the bright red drink container can with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the red beverage can with curved top and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the gold patterned beverage can, set it inside the woven basket, then lift the woven basket.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the light brown oval basket, and lift the light brown oval basket.", + "Place the red can with gold illustrations in the basket with handle and then lift the basket with handle.", + "Use the right arm to grab the red beverage can with curved top, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the red beverage can with curved top, place it in the woven basket, and then lift the woven basket." + ], + "unseen": [ + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..861234536617c84e62961192e941af1b7d877681 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic soda can with the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the metallic soda can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to grab the metallic can with rounded edges, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Pick the red and gold cylindrical can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Grab the bright red drink container can, set it into the basket with handle, then raise the basket with handle.", + "Take the gold patterned beverage can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the red beverage can with curved top and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Take the gold-decorated aluminum can and put it in the brown basket, then lift the brown basket.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the metallic soda can, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Lift the gold patterned beverage can, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick up the metallic soda can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the metallic soda can, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick up the gold patterned beverage can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the gold patterned beverage can in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Grab the red and gold cylindrical can, drop it into the basket with handle, and raise the basket with handle.", + "Grab the metallic can with rounded edges, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Hold the metallic can with rounded edges using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Take the metallic soda can, set it into the woven basket, and raise the woven basket.", + "Lift the red beverage can with curved top, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Drop the gold-decorated aluminum can into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Grab the red and gold cylindrical can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Place the red and gold cylindrical can inside the basket with handle, then lift the basket with handle.", + "Grab the bright red drink container can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Grab the gold-decorated aluminum can using the right arm, drop the gold-decorated aluminum can into the basket with loop handle and lift the basket with loop handle.", + "Pick up the red beverage can with curved top, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the right arm to take the gold-decorated aluminum can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the red beverage can with curved top, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Place the red can with gold illustrations in the basket for holding items and then use another arm to lift the basket for holding items.", + "Pick the metallic soda can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the red beverage can with curved top with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Pick the metallic can with rounded edges with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Lift the metallic can with rounded edges, place it in the brown basket, and raise the brown basket.", + "Use the right arm to grab the bright red drink container can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick up the red can, place it into the basket with handle, then lift the basket with handle.", + "Grab and drop the red and gold cylindrical can in the basket for holding items, lift the basket for holding items.", + "Place the red can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Use the right arm to grab the gold-decorated aluminum can, place it in the basket for holding items, and lift the basket for holding items.", + "Grab the bright red drink container can with the right arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the right arm to pick the gold patterned beverage can, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the compact metal drink can using the right arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the same arm to grab the gold patterned beverage can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the smooth red soda can with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Grab the red beverage can with curved top, put it in the brown basket, then raise the brown basket.", + "Pick up the compact metal drink can using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick the red can with gold illustrations with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the gold-decorated aluminum can with the right arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the compact metal drink can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Lift the red can with gold illustrations, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Take the compact metal drink can with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the red and gold cylindrical can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Use the right arm to grab the palm-sized drink can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Pick the gold patterned beverage can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Grab the metallic can with rounded edges, set it into the basket with loop handle, then raise the basket with loop handle.", + "Take the bright red drink container can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the red can with gold illustrations and place in the basket with handle, lift the basket with handle with another arm.", + "Take the compact metal drink can and put it in the basket with handle, then lift the basket with handle.", + "Use the right arm for the red can, place the red can in the light brown oval basket, and lift the light brown oval basket.", + "Grab the metallic soda can, place it in the brown basket, and lift the brown basket upwards.", + "Lift the palm-sized drink can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Pick up the red can, set it inside the woven basket, then lift the woven basket.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the basket with loop handle, and lift the basket with loop handle.", + "Grab the bright red drink container can, place it in the brown basket, and then lift the brown basket.", + "Pick up the palm-sized drink can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Take the palm-sized drink can in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Grab the red can with gold illustrations, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Grab the red beverage can with curved top, place it in the woven basket, and raise the woven basket using the other arm.", + "Hold the metallic can with rounded edges using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the gold-decorated aluminum can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the red can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Drop the compact metal drink can into the oval-shaped basket with woven body using the right arm, then lift the oval-shaped basket with woven body with another arm.", + "Grab the metallic can with rounded edges, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Place the smooth red soda can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the red can with gold illustrations, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Grab the compact metal drink can using the right arm, drop the compact metal drink can into the basket for holding items and lift the basket for holding items.", + "Pick up the metallic soda can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the right arm to take the metallic can with rounded edges, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the gold patterned beverage can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Place the smooth red soda can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Pick the red and gold cylindrical can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the smooth red soda can with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Pick the red beverage can with curved top with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Lift the red beverage can with curved top, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the right arm to grab the red beverage can with curved top, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the compact metal drink can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab and drop the compact metal drink can in the basket with handle, lift the basket with handle.", + "Place the compact metal drink can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the compact metal drink can, place it in the woven basket, and lift the woven basket.", + "Grab the red can with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to pick the palm-sized drink can, place it inside the woven basket, then lift the woven basket.", + "Pick the red beverage can with curved top using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the same arm to grab the red can with gold illustrations, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the bright red drink container can with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Grab the bright red drink container can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the gold patterned beverage can using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick the metallic can with rounded edges with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the red and gold cylindrical can with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Lift the metallic soda can, place it inside the brown basket, and elevate the brown basket.", + "Lift the red beverage can with curved top, drop it into the light brown oval basket, then carry the light brown oval basket." + ], + "unseen": [ + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5c6f44d5e8815f7c262bfc1ee0de4077cfd618 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the soda can with lime illustration, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the red green can with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick the red green beverage can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the red green beverage can, set it into the woven basket, then raise the woven basket.", + "Grab the colorful can with lime and orange design, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Grab the small soda can with lime graphics with the right arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick up the smooth cylindrical can with lime pattern using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the right arm to grab the soda can with lime illustration, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Drop the can with red green label into the smooth ribbed light brown basket using the right arm, then lift the smooth ribbed light brown basket with another arm.", + "Lift the green red metallic soda can, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Pick the metallic drink can with pull-tab, set it in the basket with handle, and lift the basket with handle upward.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Take the drink can with bright colors in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Hold the can with red green label using the right arm, place it in the brown basket, and lift the brown basket.", + "Pick the metallic drink can with pull-tab with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the red green beverage can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Take the red green can, set it into the brown basket, and raise the brown basket.", + "Grab the drink can with bright colors, drop it into the woven basket, and raise the woven basket.", + "Use the right arm to grab the metallic drink can with pull-tab, place it in the basket with handle, and lift the basket with handle.", + "Use the right arm to pick the red green can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the colorful can with lime and orange design, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the red green can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Place the drink can with bright colors in the brown basket and then use another arm to lift the brown basket.", + "Place the red green beverage can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Take the small soda can with lime graphics and put it in the basket for holding items, then lift the basket for holding items.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the basket with loop handle and lift the basket with loop handle.", + "Grab the small soda can with lime graphics, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Take the small soda can with lime graphics, place it into the light brown oval basket, then lift the light brown oval basket.", + "Pick up the metal can with pull-tab top, set it inside the basket for holding items, then lift the basket for holding items.", + "Lift the metal can with pull-tab top with the right arm, set it in the brown basket, and lift with another arm.", + "Lift the red green can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Use the same arm to grab the colorful can with lime and orange design, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the right arm for the red green beverage can, place the red green beverage can in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to hold the drink can with bright colors, drop the drink can with bright colors into the basket with loop handle, and lift the basket with loop handle.", + "Pick the colorful can with lime and orange design, set it in the woven basket, then lift the woven basket.", + "Lift the red green beverage can, place it in the basket with handle, pick up the basket with handle afterward.", + "Lift the metal can with pull-tab top, drop it into the basket with handle, then carry the basket with handle.", + "Pick up the colorful can with lime and orange design, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Place the red green beverage can inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the red green beverage can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Take the soda can with lime illustration with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab and drop the can with red green label in the basket for holding items, lift the basket for holding items.", + "Pick up the red green beverage can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the green red metallic soda can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to grab the beverage can with red green graphics and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Grab the small soda can with lime graphics, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Use the right arm to grab the drink can with bright colors, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Grab the drink can with bright colors, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the right arm to take the small soda can with lime graphics, drop it in the brown basket, and lift the brown basket.", + "Pick the soda can with lime illustration with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick the beverage can with red green graphics with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the drink can with bright colors, set it into the woven basket, then raise the woven basket.", + "Grab the small soda can with lime graphics, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the small soda can with lime graphics with the right arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Pick up the red green beverage can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the right arm to grab the green red metallic soda can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Drop the red green beverage can into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Lift the colorful can with lime and orange design, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick the beverage can with red green graphics, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Take the green red metallic soda can in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Hold the soda can with lime illustration using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the metal can with pull-tab top with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the metallic drink can with pull-tab, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Take the green red metallic soda can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the soda can with lime illustration, drop it into the woven basket, and raise the woven basket.", + "Use the right arm to grab the drink can with bright colors, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to pick the can with red green label, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the metallic drink can with pull-tab, set it in the basket with handle, and elevate the basket with handle.", + "Lift the colorful can with lime and orange design, place it in the brown basket, and raise the brown basket.", + "Place the can with red green label in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Place the metallic drink can with pull-tab in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Take the drink can with bright colors and put it in the light brown oval basket, then lift the light brown oval basket.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the basket with handle and lift the basket with handle.", + "Grab the red green can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Take the green red metallic soda can, place it into the basket for holding items, then lift the basket for holding items.", + "Pick up the drink can with bright colors, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the green red metallic soda can with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Lift the drink can with bright colors, place it inside the woven basket, and elevate the woven basket.", + "Use the same arm to grab the colorful can with lime and orange design, place in the basket for holding items, and then lift the basket for holding items.", + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to hold the small soda can with lime graphics, drop the small soda can with lime graphics into the basket for holding items, and lift the basket for holding items.", + "Pick the metal can with pull-tab top, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the drink can with bright colors, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Lift the red green beverage can, drop it into the woven basket, then carry the woven basket.", + "Pick up the green red metallic soda can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Place the small soda can with lime graphics inside the brown basket, then lift the brown basket.", + "Pick up the metal can with pull-tab top, put it in the basket with loop handle, and lift the basket with loop handle.", + "Take the green red metallic soda can with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab and drop the red green can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the small soda can with lime graphics, place it into the brown basket, then lift the brown basket.", + "Pick up the soda can with lime illustration, put it into the basket for holding items, and lift the basket for holding items.", + "Use the right arm to grab the metal can with pull-tab top and place in the brown basket, lift the brown basket with another arm.", + "Grab the can with red green label, drop it into the basket with handle, then use another arm for the basket with handle.", + "Grab the red green beverage can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Use the right arm to grab the red green beverage can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Grab the soda can with lime illustration, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Pick the metallic drink can with pull-tab using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..54650e6720058f66f3aabf5c28e897b1930d26c7 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gold patterned beverage can with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Take the palm-sized drink can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the red can, put it in the brown basket, and carry the brown basket afterward.", + "Pick the palm-sized drink can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab and drop the compact metal drink can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Pick up the red can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick up the metallic can with rounded edges, put it into the basket with handle, and lift the basket with handle.", + "Take the red beverage can with curved top with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the gold patterned beverage can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Take the gold patterned beverage can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the compact metal drink can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red can with gold illustrations, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Use the same arm to grab the gold-decorated aluminum can, place in the woven basket, and then lift the woven basket.", + "Lift the red can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick the metallic soda can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Grab the red can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick up the gold-decorated aluminum can, place it in the brown basket, and then lift the brown basket.", + "Lift the smooth red soda can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Use the left arm to hold the compact metal drink can, drop the compact metal drink can into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to grab the bright red drink container can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Use the left arm to take the compact metal drink can, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the compact metal drink can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the gold-decorated aluminum can with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Pick the smooth red soda can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Take the smooth red soda can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Pick the bright red drink container can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Hold the red beverage can with curved top using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the palm-sized drink can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Grab the metallic can with rounded edges, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Use the left arm to grab the palm-sized drink can, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the metallic can with rounded edges using the left arm, drop the metallic can with rounded edges into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Pick up the gold patterned beverage can, put it in the basket for carrying things, and lift the basket for carrying things.", + "Drop the metallic can with rounded edges into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Place the gold patterned beverage can in the basket made of woven wood and then lift the basket made of woven wood.", + "Grab the palm-sized drink can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Take the compact metal drink can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the red and gold cylindrical can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm for the red can with gold illustrations, place the red can with gold illustrations in the basket with handle, and lift the basket with handle.", + "Pick up the metallic soda can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the gold-decorated aluminum can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Use the left arm to grab the metallic can with rounded edges and place in the woven basket, lift the woven basket with another arm.", + "Lift the gold-decorated aluminum can, place it inside the basket with handle, and elevate the basket with handle.", + "Grab the gold-decorated aluminum can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick the red and gold cylindrical can with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Pick up the metallic can with rounded edges, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to grab the red and gold cylindrical can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Lift the red can with gold illustrations, drop it into the woven basket, then carry the woven basket.", + "Grab the metallic can with rounded edges, drop it into the woven basket, and raise the woven basket with the other arm.", + "Place the gold-decorated aluminum can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Use the left arm to pick the red and gold cylindrical can, place it inside the woven basket, then lift the woven basket.", + "Pick up the gold-decorated aluminum can with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Take the gold-decorated aluminum can and put it in the basket with handle, then lift the basket with handle.", + "Lift the gold-decorated aluminum can, put it in the basket with handle, and carry the basket with handle afterward.", + "Pick the gold patterned beverage can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab and drop the smooth red soda can in the woven basket, lift the woven basket.", + "Pick up the metallic can with rounded edges using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick up the gold-decorated aluminum can, put it into the basket with handle, and lift the basket with handle.", + "Take the red can with gold illustrations with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the red beverage can with curved top, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Take the red can with gold illustrations, set it into the brown basket, and raise the brown basket.", + "Pick the palm-sized drink can, set it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the smooth red soda can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Use the same arm to grab the bright red drink container can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the palm-sized drink can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Pick the red beverage can with curved top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Grab the bright red drink container can, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the red can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Lift the red can with gold illustrations, place it in the basket with handle, and raise the basket with handle.", + "Use the left arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the brown basket, and lift the brown basket.", + "Use the left arm to grab the red can with gold illustrations, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Use the left arm to take the red beverage can with curved top, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the red can with gold illustrations inside the brown basket, then lift the brown basket.", + "Lift the gold-decorated aluminum can with the left arm, set it in the basket for holding items, and lift with another arm.", + "Pick the red can with gold illustrations with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Take the red beverage can with curved top in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Pick the bright red drink container can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Hold the metallic can with rounded edges using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the gold patterned beverage can, place it in the brown basket, pick up the brown basket afterward.", + "Grab the bright red drink container can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Use the left arm to grab the red and gold cylindrical can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the metallic soda can using the left arm, drop the metallic soda can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick up the compact metal drink can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Drop the palm-sized drink can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.", + "Place the bright red drink container can in the basket made of woven wood and then lift the basket made of woven wood.", + "Grab the bright red drink container can, put it in the basket for holding items, then raise the basket for holding items.", + "Take the bright red drink container can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the red can with gold illustrations with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm for the red can, place the red can in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the compact metal drink can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the red can with gold illustrations, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Use the left arm to grab the red beverage can with curved top and place in the basket with handle, lift the basket with handle with another arm.", + "Lift the red can with gold illustrations, place it inside the brown basket, and elevate the brown basket.", + "Grab the metallic soda can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the metallic soda can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the smooth red soda can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to grab the gold-decorated aluminum can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Lift the bright red drink container can, drop it into the basket for holding items, then carry the basket for holding items.", + "Grab the compact metal drink can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Place the red can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the left arm to pick the metallic soda can, place it inside the basket with handle, then lift the basket with handle." + ], + "unseen": [ + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..51707ae0f58d467dc7df62f976d96d53825db883 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium-sized soda can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the metal can with red base with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Pick the medium-sized soda can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Use the left arm to grab the cylindrical can with flat surfaces, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Pick up the red can with decorative label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the can with flat silver bottom, put it in the basket for holding items, then raise the basket for holding items.", + "Use the left arm to grab the cylindrical metal can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Place the red can with decorative label in the basket with loop handle and then lift the basket with loop handle.", + "Lift the drink can with smooth red finish, place it in the brown basket, and raise the brown basket.", + "Grab the red soda can with green accents, set it into the basket with loop handle, then raise the basket with loop handle.", + "Grab the red soda can with green accents, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the basket for carrying things, and lift the basket for carrying things.", + "Take the can with flat silver bottom in the left arm, place it into the brown basket, another arm lifts the brown basket.", + "Use the left arm to take the drink can with smooth red finish, drop it in the brown basket, and lift the brown basket.", + "Pick up the drink can with smooth red finish, set it inside the brown basket, then lift the brown basket.", + "Lift the red drink can with white lid, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick up the red drink can with white lid, put it into the basket for carrying things, and lift the basket for carrying things.", + "Drop the red drink can with white lid into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Take the metal can with red base, place it into the light brown oval basket, then lift the light brown oval basket.", + "Lift the drink can with smooth red finish, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Take the smooth red can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the medium-sized soda can, place it in the woven basket, and raise the woven basket using the other arm.", + "Lift the cylindrical metal can, put it in the woven basket, and carry the woven basket afterward.", + "Grab the red and white beverage can using the left arm, drop the red and white beverage can into the basket for carrying things and lift the basket for carrying things.", + "Place the can with flat silver bottom in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Lift the red drink can with white lid with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Grab the red drink can with white lid, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Use the left arm to grab the red soda can with green accents, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the cylindrical can with flat surfaces using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the cylindrical metal can, drop it into the woven basket, then use another arm for the woven basket.", + "Grab and drop the medium-sized soda can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Take the red drink can with white lid and put it in the basket for carrying things, then lift the basket for carrying things.", + "Place the cylindrical metal can inside the brown basket, then lift the brown basket.", + "Pick the cylindrical can with flat surfaces with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick up the medium-sized soda can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Use the same arm to grab the cylindrical can with flat surfaces, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the red drink can with white lid using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the left arm to pick the red shiny can with green label, place it inside the basket with handle, then lift the basket with handle.", + "Use the left arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the basket for carrying things, and lift the basket for carrying things.", + "Grab the smooth red can, drop it into the basket for holding items, and raise the basket for holding items.", + "Pick the red soda can with green accents, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Pick the metal can with red base, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the red soda can with green accents and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Lift the smooth red can, drop it into the basket for holding items, then carry the basket for holding items.", + "Hold the metal can with red base using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the drink can with smooth red finish, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Grab the metal can with red base with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the red can with decorative label, set it in the basket with handle, and elevate the basket with handle.", + "Pick the medium-sized soda can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the red and white beverage can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the cylindrical metal can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick the cylindrical can with flat surfaces with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Use the left arm to grab the metal can with red base, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick up the red shiny can with green label, place it in the basket for holding items, and then lift the basket for holding items.", + "Grab the drink can with smooth red finish, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Use the left arm to grab the red and white beverage can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Place the red soda can with green accents in the basket with handle and then lift the basket with handle.", + "Lift the red and white beverage can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the cylindrical can with flat surfaces, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the drink can with smooth red finish, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the left arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the basket for carrying things, and lift the basket for carrying things.", + "Take the red shiny can with green label in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Use the left arm to take the smooth red can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the can with flat silver bottom, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the medium-sized soda can, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Pick up the red shiny can with green label, put it into the light brown oval basket, and lift the light brown oval basket.", + "Drop the drink can with smooth red finish into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Take the drink can with smooth red finish, place it into the basket for carrying things, then lift the basket for carrying things.", + "Lift the red shiny can with green label, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Take the smooth red can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the red can with decorative label, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Lift the red shiny can with green label, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Grab the red can with decorative label using the left arm, drop the red can with decorative label into the basket for holding items and lift the basket for holding items.", + "Place the drink can with smooth red finish in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Lift the smooth red can with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the medium-sized soda can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Use the left arm to grab the smooth red can, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the red and white beverage can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Grab the red drink can with white lid, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Grab and drop the can with flat silver bottom in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Take the medium-sized soda can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Place the cylindrical can with flat surfaces inside the basket for holding items, then lift the basket for holding items.", + "Pick the metal can with red base with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Pick up the red and white beverage can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Use the same arm to grab the smooth red can, place in the brown basket, and then lift the brown basket.", + "Pick the cylindrical metal can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the left arm to pick the cylindrical metal can, place it inside the basket for holding items, then lift the basket for holding items.", + "Use the left arm for the drink can with smooth red finish, place the drink can with smooth red finish in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with handle, and raise the basket with handle.", + "Pick the drink can with smooth red finish, set it in the brown basket, and lift the brown basket upward.", + "Pick the drink can with smooth red finish, set it in the brown basket, then lift the brown basket.", + "Use the left arm to grab the metal can with red base and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Lift the metal can with red base, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Hold the red soda can with green accents using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the red and white beverage can, place it into the woven basket, then lift the woven basket.", + "Grab the can with flat silver bottom, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Grab the drink can with smooth red finish with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Lift the red drink can with white lid, set it in the brown basket, and elevate the brown basket.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm." + ], + "unseen": [ + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can with white top, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..1a556682ad4038121f48a657f0b0262691702167 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the palm-sized drink can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the palm-sized drink can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Pick up the smooth red soda can, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the red can in the basket with arched black grip, lift the basket with arched black grip.", + "Pick the gold patterned beverage can with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the gold patterned beverage can, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick the gold patterned beverage can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Place the red can with gold illustrations in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the left arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the yellow basket, and lift the yellow basket.", + "Pick up the gold patterned beverage can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the bright red drink container can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Use the same arm to grab the red and gold cylindrical can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Place the bright red drink container can in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Pick up the gold-decorated aluminum can with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the left arm to grab the palm-sized drink can, put it into the plastic basket, and lift the plastic basket with another arm.", + "Pick the palm-sized drink can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick the red can with gold illustrations using the left arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the gold patterned beverage can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the metallic can with rounded edges, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the red and gold cylindrical can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red can with gold illustrations, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the gold patterned beverage can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Lift the metallic soda can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick up the gold-decorated aluminum can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to grab the gold patterned beverage can and place in the handheld basket, lift the handheld basket with another arm.", + "Use the left arm to take the red can, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the gold patterned beverage can using the left arm, drop the gold patterned beverage can into the yellow basket and lift the yellow basket.", + "Grab the bright red drink container can, place it in the yellow basket, and then lift the yellow basket.", + "Take the bright red drink container can, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the smooth red soda can, place it inside the yellow basket, and elevate the yellow basket.", + "Use the left arm to pick the palm-sized drink can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the palm-sized drink can using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the gold patterned beverage can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Drop the gold-decorated aluminum can into the plastic basket using the left arm, then lift the plastic basket with another arm.", + "Use the left arm to grab the bright red drink container can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the gold patterned beverage can in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Lift the gold-decorated aluminum can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the compact metal drink can with the left arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the red and gold cylindrical can with the left arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Take the smooth red soda can with the left arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick up the red and gold cylindrical can, put it into the yellow basket, and lift the yellow basket.", + "Use the left arm to grab the red can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Take the smooth red soda can, set it into the handheld basket, and raise the handheld basket.", + "Pick up the metallic soda can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red and gold cylindrical can with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the metallic soda can, set it into the yellow basket, then raise the yellow basket.", + "Grab the palm-sized drink can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Use the left arm for the metallic soda can, place the metallic soda can in the basket with black handle, and lift the basket with black handle.", + "Hold the palm-sized drink can using the left arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the metallic soda can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Take the metallic can with rounded edges and put it in the yellow basket, then lift the yellow basket.", + "Grab the gold patterned beverage can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Pick up the gold-decorated aluminum can, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab and drop the gold patterned beverage can in the bright yellow basket, lift the bright yellow basket.", + "Pick the palm-sized drink can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the smooth red soda can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Pick the palm-sized drink can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Place the palm-sized drink can in the yellow basket and then use another arm to lift the yellow basket.", + "Use the left arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the yellow basket, and lift the yellow basket.", + "Pick up the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the gold-decorated aluminum can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the same arm to grab the red can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Place the red can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Pick up the compact metal drink can with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Use the left arm to grab the red can with gold illustrations, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick the red can with gold illustrations, set it in the plastic basket, and lift the plastic basket upward.", + "Pick the compact metal drink can using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the smooth red soda can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the gold patterned beverage can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the red can with gold illustrations inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the metallic soda can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the metallic can with rounded edges, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the metallic can with rounded edges, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Pick up the red and gold cylindrical can, place it into the handheld basket, then lift the handheld basket.", + "Use the left arm to grab the gold-decorated aluminum can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the left arm to take the gold-decorated aluminum can, drop it in the handheld basket, and lift the handheld basket.", + "Grab the smooth red soda can using the left arm, drop the smooth red soda can into the yellow basket and lift the yellow basket.", + "Grab the metallic soda can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the red can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the smooth red soda can, place it inside the plastic basket, and elevate the plastic basket.", + "Use the left arm to pick the compact metal drink can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red beverage can with curved top using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the gold-decorated aluminum can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Drop the metallic soda can into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the left arm to grab the metallic can with rounded edges, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metallic can with rounded edges in the left arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Lift the bright red drink container can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick the smooth red soda can with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the compact metal drink can with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Take the metallic soda can with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Pick up the gold-decorated aluminum can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to grab the palm-sized drink can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Take the bright red drink container can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the metallic soda can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the gold patterned beverage can with the left arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the gold patterned beverage can, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the red and gold cylindrical can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Use the left arm for the metallic can with rounded edges, place the metallic can with rounded edges in the yellow basket, and lift the yellow basket.", + "Hold the gold patterned beverage can using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the metallic can with rounded edges, drop it into the rectangular yellow basket, then carry the rectangular yellow basket." + ], + "unseen": [ + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..dd9e997f8d038631355223e2dd57be72f56d8f21 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the red can with smooth metallic texture, place it into the brown basket, then lift the brown basket.", + "Place the small aluminum red drink can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the rounded red Coca-Cola soda container with the left arm, set it in the brown basket, and lift with another arm.", + "Lift the Coca-Cola soda can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the same arm to grab the red can with white Coca-Cola logo, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Hold the Coca-Cola can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the red can with white lettering, put it into the brown basket, and lift the brown basket with another arm.", + "Use the left arm to take the Coca-Cola can, drop it in the woven basket, and lift the woven basket.", + "Use the left arm to grab the Coca-Cola can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the metallic red beverage can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Pick the red can with smooth metallic texture with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the small aluminum red drink can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Grab the red can with white lettering, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Drop the red cylindrical can with silver top into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Lift the red cylindrical can with silver top, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick the red can with white Coca-Cola logo, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Place the red cylindrical can with silver top in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Lift the Coca-Cola soda can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the Coca-Cola soda can using the left arm, drop the Coca-Cola soda can into the basket for holding items and lift the basket for holding items.", + "Pick up the red cylindrical can with silver top using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the Coca-Cola soda can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the Coca-Cola soda can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the left arm for the hand-sized red can for drinks, place the hand-sized red can for drinks in the basket for carrying things, and lift the basket for carrying things.", + "Grab the red can with smooth metallic texture, set it into the basket for holding items, then raise the basket for holding items.", + "Pick the smooth red can with silver bottom with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick the rounded red Coca-Cola soda container, set it in the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the Coca-Cola soda can, place it in the brown basket, and lift the brown basket.", + "Lift the rounded red Coca-Cola soda container, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Grab the red can with white Coca-Cola logo, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the red can with smooth metallic texture, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the smooth red can with silver bottom, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the hand-sized red can for drinks with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Place the red can with white lettering inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the red can with white Coca-Cola logo, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the cylindrical red drink can with logo, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Lift the Coca-Cola soda can, put it in the woven basket, and carry the woven basket afterward.", + "Use the left arm to pick the red can with white lettering, place it inside the brown basket, then lift the brown basket.", + "Take the smooth red can with silver bottom, set it into the woven basket, and raise the woven basket.", + "Grab and drop the rounded red Coca-Cola soda container in the light brown oval basket, lift the light brown oval basket.", + "Use the left arm to hold the red can with smooth metallic texture, drop the red can with smooth metallic texture into the basket with loop handle, and lift the basket with loop handle.", + "Take the Coca-Cola soda can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Take the rounded red Coca-Cola soda container in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Pick the smooth red can with silver bottom with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the cylindrical red drink can with logo with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the red cylindrical can with silver top, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the Coca-Cola can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to grab the red can with white lettering and place in the woven basket, lift the woven basket with another arm.", + "Grab the red can with white Coca-Cola logo, place it in the woven basket, and lift the woven basket upwards.", + "Pick up the Coca-Cola soda can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Pick up the red can with white lettering, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Take the smooth red can with silver bottom, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Place the small aluminum red drink can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Lift the Coca-Cola soda can with the left arm, set it in the basket for holding items, and lift with another arm.", + "Lift the rounded red Coca-Cola soda container, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Use the same arm to grab the rounded red Coca-Cola soda container, place in the basket for holding items, and then lift the basket for holding items.", + "Hold the Coca-Cola soda can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the rounded red Coca-Cola soda container, put it into the basket with handle, and lift the basket with handle with another arm.", + "Use the left arm to take the small aluminum red drink can, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the left arm to grab the red cylindrical can with silver top, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the smooth red can with silver bottom, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Pick the Coca-Cola can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the red can with white Coca-Cola logo, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Grab the cylindrical red drink can with logo, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Drop the red can with smooth metallic texture into the woven basket using the left arm, then lift the woven basket with another arm.", + "Lift the cylindrical red drink can with logo, set it in the woven basket, and elevate the woven basket.", + "Pick the Coca-Cola can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Place the cylindrical red drink can with logo in the basket with loop handle and then lift the basket with loop handle.", + "Lift the small aluminum red drink can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the rounded red Coca-Cola soda container using the left arm, drop the rounded red Coca-Cola soda container into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick up the small aluminum red drink can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the Coca-Cola can, put it in the basket with handle, then raise the basket with handle.", + "Pick up the Coca-Cola soda can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the left arm for the red can with white Coca-Cola logo, place the red can with white Coca-Cola logo in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the Coca-Cola soda can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Pick the red can with smooth metallic texture with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Pick the metallic red beverage can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to grab the red can with white Coca-Cola logo, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the Coca-Cola can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Grab the red can with smooth metallic texture, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the small aluminum red drink can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick up the hand-sized red can for drinks, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the small aluminum red drink can with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Place the smooth red can with silver bottom inside the basket with loop handle, then lift the basket with loop handle.", + "Pick up the Coca-Cola soda can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the Coca-Cola soda can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Lift the metallic red beverage can, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Use the left arm to pick the small aluminum red drink can, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Take the red can with white lettering, set it into the basket for holding items, and raise the basket for holding items.", + "Grab and drop the small aluminum red drink can in the brown basket, lift the brown basket.", + "Use the left arm to hold the red can with white Coca-Cola logo, drop the red can with white Coca-Cola logo into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the red can with white lettering and put it in the basket for holding items, then lift the basket for holding items.", + "Take the smooth red can with silver bottom in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Pick the metallic red beverage can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the small aluminum red drink can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick up the Coca-Cola soda can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the small aluminum red drink can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to grab the hand-sized red can for drinks and place in the brown basket, lift the brown basket with another arm.", + "Grab the red can with white lettering, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Pick up the red can with white lettering with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Pick up the red can with white lettering, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket." + ], + "unseen": [ + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..472a0ea58b06884fd7f01beeee733329e190738c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the cylindrical metal can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Place the red drink can with white lid inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the drink can with smooth red finish in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the red soda can with green accents, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab and drop the smooth red can in the basket with perforated sides, lift the basket with perforated sides.", + "Pick up the red soda can with green accents with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick up the red soda can with green accents, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the red and white beverage can using the right arm, drop the red and white beverage can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab the metal can with red base, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the red shiny can with green label, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the can with flat silver bottom, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Take the red soda can with green accents with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Hold the cylindrical metal can using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the smooth red can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the smooth red can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the red can with decorative label, put it into the yellow basket, and lift the yellow basket.", + "Pick the red can with decorative label with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Take the red drink can with white lid and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Take the medium-sized soda can, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the red soda can with green accents, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Lift the can with flat silver bottom, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Place the medium-sized soda can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab the medium-sized soda can, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the cylindrical can with flat surfaces, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth red can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Lift the red drink can with white lid, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Pick up the cylindrical metal can, put it in the handheld basket, and lift the handheld basket.", + "Grab the cylindrical metal can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Use the right arm to grab the can with flat silver bottom and place in the yellow basket, lift the yellow basket with another arm.", + "Pick the metal can with red base with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the smooth red can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red shiny can with green label, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Use the right arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the yellow basket, and lift the yellow basket.", + "Use the right arm to take the smooth red can, drop it in the handheld basket, and lift the handheld basket.", + "Use the same arm to grab the red and white beverage can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to pick the smooth red can, place it inside the handheld basket, then lift the handheld basket.", + "Pick the red can with decorative label, set it in the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm for the drink can with smooth red finish, place the drink can with smooth red finish in the handheld basket, and lift the handheld basket.", + "Lift the red and white beverage can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the red drink can with white lid, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the cylindrical metal can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Take the red drink can with white lid, place it into the yellow basket, then lift the yellow basket.", + "Pick the red shiny can with green label, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Pick up the can with flat silver bottom, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Drop the cylindrical can with flat surfaces into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Lift the red and white beverage can with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the right arm to grab the drink can with smooth red finish, place it in the yellow basket, and lift the yellow basket.", + "Pick the red can with decorative label using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the can with flat silver bottom, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick the smooth red can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to grab the red soda can with green accents, put it into the handheld basket, and lift the handheld basket with another arm.", + "Place the can with flat silver bottom inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the red shiny can with green label in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Grab the cylindrical can with flat surfaces, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Grab and drop the red drink can with white lid in the handheld basket, lift the handheld basket.", + "Pick up the can with flat silver bottom with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick up the medium-sized soda can, place it into the plastic basket, then lift the plastic basket.", + "Grab the cylindrical can with flat surfaces using the right arm, drop the cylindrical can with flat surfaces into the plastic basket and lift the plastic basket.", + "Grab the red drink can with white lid, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the cylindrical metal can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the can with flat silver bottom, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Take the medium-sized soda can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Hold the red drink can with white lid using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Grab the red drink can with white lid, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Grab the drink can with smooth red finish with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the cylindrical metal can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the red and white beverage can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Take the medium-sized soda can and put it in the basket with black handle, then lift the basket with black handle.", + "Take the red soda can with green accents, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Lift the red can with decorative label, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the red shiny can with green label, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Place the red drink can with white lid in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Grab the red can with decorative label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the metal can with red base, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the cylindrical metal can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the red and white beverage can, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick up the red shiny can with green label, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the can with flat silver bottom, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Use the right arm to grab the cylindrical metal can and place in the handheld basket, lift the handheld basket with another arm.", + "Pick the metal can with red base with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the smooth red can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the drink can with smooth red finish, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm to hold the red and white beverage can, drop the red and white beverage can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to take the metal can with red base, drop it in the yellow basket, and lift the yellow basket.", + "Use the same arm to grab the medium-sized soda can, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to pick the drink can with smooth red finish, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the medium-sized soda can, set it in the handheld basket, then lift the handheld basket.", + "Use the right arm for the red drink can with white lid, place the red drink can with white lid in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the red soda can with green accents, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the red can with decorative label, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the metal can with red base in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Take the can with flat silver bottom, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the cylindrical metal can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick up the can with flat silver bottom, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Drop the red can with decorative label into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Lift the red shiny can with green label with the right arm, set it in the yellow basket, and lift with another arm.", + "Use the right arm to grab the red drink can with white lid, place it in the handheld basket, and lift the handheld basket.", + "Pick the drink can with smooth red finish using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the medium-sized soda can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick the red can with decorative label with the right arm, set it in the plastic basket, and lift the plastic basket using another arm." + ], + "unseen": [ + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..12f8b16bf35d301f29f3b4367550c4f643231612 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and drop the Coca-Cola soda can in the basket for holding items, lift the basket for holding items.", + "Grab the small aluminum red drink can, place it in the brown basket, and then lift the brown basket.", + "Use the left arm to grab the small aluminum red drink can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the red can with white Coca-Cola logo, place it in the brown basket, pick up the brown basket afterward.", + "Pick the metallic red beverage can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the red can with white Coca-Cola logo inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the small aluminum red drink can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Use the left arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the small aluminum red drink can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Pick up the red can with white lettering, place it in the woven basket, and then lift the woven basket.", + "Pick the small aluminum red drink can with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the cylindrical red drink can with logo, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Grab the smooth red can with silver bottom with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Lift the smooth red can with silver bottom, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the hand-sized red can for drinks, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Use the left arm to grab the red can with white lettering, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Use the left arm to pick the hand-sized red can for drinks, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Hold the Coca-Cola can using the left arm, place it in the woven basket, and lift the woven basket.", + "Pick up the Coca-Cola soda can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Pick the cylindrical red drink can with logo, set it in the woven basket, then lift the woven basket.", + "Grab the smooth red can with silver bottom using the left arm, drop the smooth red can with silver bottom into the light brown oval basket and lift the light brown oval basket.", + "Grab the Coca-Cola soda can, place it in the woven basket, and raise the woven basket using the other arm.", + "Use the same arm to grab the metallic red beverage can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Take the smooth red can with silver bottom, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the red can with smooth metallic texture using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Use the left arm to grab the hand-sized red can for drinks, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Grab the small aluminum red drink can, put it in the woven basket, then raise the woven basket.", + "Pick the red can with white Coca-Cola logo using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the cylindrical red drink can with logo, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Take the cylindrical red drink can with logo and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the red can with smooth metallic texture, set it inside the basket for holding items, then lift the basket for holding items.", + "Pick up the cylindrical red drink can with logo, place it into the basket for holding items, then lift the basket for holding items.", + "Lift the red can with white Coca-Cola logo with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Take the red cylindrical can with silver top with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the small aluminum red drink can, set it into the light brown oval basket, then raise the light brown oval basket.", + "Use the left arm to hold the hand-sized red can for drinks, drop the hand-sized red can for drinks into the brown basket, and lift the brown basket.", + "Lift the rounded red Coca-Cola soda container, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Place the red can with smooth metallic texture in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Grab the cylindrical red drink can with logo, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Lift the metallic red beverage can, drop it into the basket for holding items, then carry the basket for holding items.", + "Take the small aluminum red drink can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Drop the red can with white Coca-Cola logo into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Pick the red cylindrical can with silver top, set it in the brown basket, and lift the brown basket upward.", + "Pick up the hand-sized red can for drinks, put it into the basket for holding items, and lift the basket for holding items.", + "Grab the smooth red can with silver bottom, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Place the small aluminum red drink can in the woven basket and then use another arm to lift the woven basket.", + "Use the left arm to grab the rounded red Coca-Cola soda container, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the red can with white lettering with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Use the left arm to take the small aluminum red drink can, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the red cylindrical can with silver top, put it in the basket with handle, and lift the basket with handle.", + "Grab and drop the red can with white Coca-Cola logo in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Grab the smooth red can with silver bottom, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the metallic red beverage can and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Lift the metallic red beverage can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick the Coca-Cola soda can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Place the small aluminum red drink can inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the red cylindrical can with silver top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the left arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the red cylindrical can with silver top, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the red can with smooth metallic texture, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick the hand-sized red can for drinks with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the red can with smooth metallic texture, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the red can with white Coca-Cola logo with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Lift the rounded red Coca-Cola soda container, place it in the woven basket, and raise the woven basket.", + "Lift the metallic red beverage can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Use the left arm to grab the red cylindrical can with silver top, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Use the left arm to pick the cylindrical red drink can with logo, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Hold the red cylindrical can with silver top using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the rounded red Coca-Cola soda container with the left arm, place into the brown basket, the other arm raises the brown basket.", + "Pick the rounded red Coca-Cola soda container, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the red can with white lettering using the left arm, drop the red can with white lettering into the basket with handle and lift the basket with handle.", + "Grab the Coca-Cola soda can, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Use the same arm to grab the red cylindrical can with silver top, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Take the red can with smooth metallic texture, set it into the woven basket, and raise the woven basket.", + "Pick up the Coca-Cola can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the left arm to grab the red can with white Coca-Cola logo, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Grab the red can with white lettering, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick the red cylindrical can with silver top using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Grab the red can with white lettering, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Take the Coca-Cola can and put it in the basket with handle, then lift the basket with handle.", + "Pick up the small aluminum red drink can, set it inside the brown basket, then lift the brown basket.", + "Pick up the cylindrical red drink can with logo, place it into the basket with handle, then lift the basket with handle.", + "Lift the red cylindrical can with silver top with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Take the red can with white lettering with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the metallic red beverage can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Use the left arm to hold the red can with smooth metallic texture, drop the red can with smooth metallic texture into the light brown oval basket, and lift the light brown oval basket.", + "Lift the red can with white lettering, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Place the cylindrical red drink can with logo in the light brown oval basket and then lift the light brown oval basket.", + "Grab the hand-sized red can for drinks, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the cylindrical red drink can with logo, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Take the rounded red Coca-Cola soda container in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Drop the cylindrical red drink can with logo into the woven basket using the left arm, then lift the woven basket with another arm.", + "Pick the metallic red beverage can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Pick up the Coca-Cola soda can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Grab the rounded red Coca-Cola soda container, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Place the rounded red Coca-Cola soda container in the basket with handle and then use another arm to lift the basket with handle.", + "Use the left arm to grab the red can with white Coca-Cola logo, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the red can with smooth metallic texture with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Use the left arm to take the smooth red can with silver bottom, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the Coca-Cola soda can, put it in the woven basket, and lift the woven basket." + ], + "unseen": [ + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d7e811339e7663fb5d2b741d510f124cf06607 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the green red metallic soda can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the beverage can with red green graphics, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the beverage can with red green graphics using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Place the colorful can with lime and orange design inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the red green beverage can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the small soda can with lime graphics, put it in the basket for carrying things, then raise the basket for carrying things.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Take the colorful can with lime and orange design with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Take the smooth cylindrical can with lime pattern and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab and drop the metallic drink can with pull-tab in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Take the red green can in the right arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Pick up the metal can with pull-tab top, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the green red metallic soda can using the right arm, drop the green red metallic soda can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Lift the metallic drink can with pull-tab, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Lift the colorful can with lime and orange design, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Pick up the small soda can with lime graphics, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Hold the can with red green label using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the basket made of woven wood, and lift the basket made of woven wood.", + "Drop the colorful can with lime and orange design into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Grab the beverage can with red green graphics, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the smooth cylindrical can with lime pattern with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick the metal can with pull-tab top with the right arm, set it in the woven basket, and lift the woven basket using another arm.", + "Pick the metal can with pull-tab top, set it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the can with red green label with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the right arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the woven basket, and lift the woven basket.", + "Grab the drink can with bright colors, drop it into the basket with handle, and raise the basket with handle.", + "Lift the red green beverage can with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Use the right arm to pick the metallic drink can with pull-tab, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the green red metallic soda can, set it into the basket for holding items, then raise the basket for holding items.", + "Lift the can with red green label, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Use the right arm to grab the can with red green label, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Lift the drink can with bright colors, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Pick up the can with red green label using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the right arm to take the red green can, drop it in the basket for holding items, and lift the basket for holding items.", + "Place the metal can with pull-tab top in the brown basket and then use another arm to lift the brown basket.", + "Take the drink can with bright colors, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the metal can with pull-tab top, put it in the basket with handle, and lift the basket with handle.", + "Pick the small soda can with lime graphics with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the red green beverage can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Use the right arm to grab the metal can with pull-tab top, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Grab the small soda can with lime graphics, place it in the brown basket, and raise the brown basket using the other arm.", + "Pick the colorful can with lime and orange design, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Take the beverage can with red green graphics, place it into the basket for carrying things, then lift the basket for carrying things.", + "Use the same arm to grab the metal can with pull-tab top, place in the basket for holding items, and then lift the basket for holding items.", + "Grab the beverage can with red green graphics, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Grab the colorful can with lime and orange design, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Place the smooth cylindrical can with lime pattern in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Pick up the colorful can with lime and orange design, put it into the woven basket, and lift the woven basket.", + "Pick up the smooth cylindrical can with lime pattern, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the red green can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the red green beverage can using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Place the drink can with bright colors inside the brown basket, then lift the brown basket.", + "Lift the colorful can with lime and orange design, place it in the woven basket, and raise the woven basket.", + "Grab the metallic drink can with pull-tab, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Use the right arm to grab the can with red green label and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Take the red green beverage can with the right arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the metallic drink can with pull-tab and put it in the basket for carrying things, then lift the basket for carrying things.", + "Grab and drop the soda can with lime illustration in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Take the green red metallic soda can in the right arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Pick up the can with red green label, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the woven basket and lift the woven basket.", + "Lift the drink can with bright colors, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Lift the can with red green label, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Pick up the green red metallic soda can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the right arm to hold the colorful can with lime and orange design, drop the colorful can with lime and orange design into the basket with handle, and lift the basket with handle.", + "Drop the beverage can with red green graphics into the basket made of woven wood using the right arm, then lift the basket made of woven wood with another arm.", + "Grab the drink can with bright colors, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Use the right arm to grab the colorful can with lime and orange design, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the metal can with pull-tab top with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Pick the colorful can with lime and orange design with the right arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick the metal can with pull-tab top, set it in the woven basket, then lift the woven basket.", + "Grab the can with red green label with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the can with red green label, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the colorful can with lime and orange design with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Use the right arm to pick the metal can with pull-tab top, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the metallic drink can with pull-tab, set it into the light brown oval basket, then raise the light brown oval basket.", + "Lift the beverage can with red green graphics, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Use the right arm to grab the red green can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick up the colorful can with lime and orange design using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the right arm to take the metallic drink can with pull-tab, drop it in the brown basket, and lift the brown basket.", + "Place the metallic drink can with pull-tab in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Take the beverage can with red green graphics, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the green red metallic soda can, put it in the basket with handle, and lift the basket with handle.", + "Pick the drink can with bright colors with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Lift the can with red green label, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Use the right arm to grab the green red metallic soda can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Grab the beverage can with red green graphics, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Pick up the drink can with bright colors with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Take the drink can with bright colors, place it into the brown basket, then lift the brown basket.", + "Use the same arm to grab the soda can with lime illustration, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the drink can with bright colors, place it in the basket with handle, and lift the basket with handle upwards.", + "Grab the soda can with lime illustration, drop it into the brown basket, then use another arm for the brown basket.", + "Place the colorful can with lime and orange design in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Pick up the can with red green label, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..9b41fff593da003d87b561a9f09f2ae38fde3039 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth cylindrical can with lime pattern, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Take the green red metallic soda can, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the metallic drink can with pull-tab, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Lift the small soda can with lime graphics, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Take the small soda can with lime graphics, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the metallic drink can with pull-tab with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the red green beverage can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the colorful can with lime and orange design, place it in the basket with handle, and raise the basket with handle.", + "Grab the drink can with bright colors using the left arm, drop the drink can with bright colors into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Place the small soda can with lime graphics in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick the drink can with bright colors using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Use the left arm to hold the drink can with bright colors, drop the drink can with bright colors into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the same arm to grab the smooth cylindrical can with lime pattern, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the green red metallic soda can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the left arm to grab the red green beverage can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the can with red green label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the can with red green label in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Grab the metal can with pull-tab top, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Grab the beverage can with red green graphics, put it in the basket for holding items, then raise the basket for holding items.", + "Drop the beverage can with red green graphics into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Pick the small soda can with lime graphics with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Lift the colorful can with lime and orange design with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Pick up the small soda can with lime graphics, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the drink can with bright colors, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Take the soda can with lime illustration with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Place the red green can inside the basket with handle, then lift the basket with handle.", + "Lift the can with red green label, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Use the left arm to grab the green red metallic soda can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Place the green red metallic soda can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Take the green red metallic soda can and put it in the brown basket, then lift the brown basket.", + "Pick up the metal can with pull-tab top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the soda can with lime illustration, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Lift the beverage can with red green graphics, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the left arm to pick the small soda can with lime graphics, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Pick up the metal can with pull-tab top using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Grab the small soda can with lime graphics, drop it into the basket with handle, then use another arm for the basket with handle.", + "Grab the metallic drink can with pull-tab, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Use the left arm for the metallic drink can with pull-tab, place the metallic drink can with pull-tab in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the left arm to take the smooth cylindrical can with lime pattern, drop it in the basket with handle, and lift the basket with handle.", + "Pick up the beverage can with red green graphics, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the drink can with bright colors with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Hold the red green can using the left arm, place it in the brown basket, and lift the brown basket.", + "Pick up the small soda can with lime graphics, set it inside the woven basket, then lift the woven basket.", + "Lift the metallic drink can with pull-tab, set it in the basket with handle, and elevate the basket with handle.", + "Grab the soda can with lime illustration, drop it into the brown basket, and raise the brown basket.", + "Pick the metal can with pull-tab top, set it in the basket for carrying things, then lift the basket for carrying things.", + "Pick up the red green beverage can with the left arm, place into the brown basket, the other arm raises the brown basket.", + "Pick up the can with red green label, put it into the light brown oval basket, and lift the light brown oval basket.", + "Grab and drop the green red metallic soda can in the basket with handle, lift the basket with handle.", + "Lift the smooth cylindrical can with lime pattern, place it inside the basket with handle, and elevate the basket with handle.", + "Take the colorful can with lime and orange design, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the smooth cylindrical can with lime pattern, set it in the woven basket, and lift the woven basket upward.", + "Lift the smooth cylindrical can with lime pattern, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Take the green red metallic soda can, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the metallic drink can with pull-tab with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Grab the small soda can with lime graphics, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Lift the smooth cylindrical can with lime pattern, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the beverage can with red green graphics using the left arm, drop the beverage can with red green graphics into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Place the red green beverage can in the light brown oval basket and then lift the light brown oval basket.", + "Pick the drink can with bright colors using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Use the left arm to hold the small soda can with lime graphics, drop the small soda can with lime graphics into the brown basket, and lift the brown basket.", + "Use the same arm to grab the can with red green label, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the soda can with lime illustration with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Use the left arm to grab the green red metallic soda can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Use the left arm to grab the green red metallic soda can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the red green can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the drink can with bright colors in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Grab the green red metallic soda can, place it in the woven basket, and lift the woven basket upwards.", + "Grab the drink can with bright colors, put it in the basket for carrying things, then raise the basket for carrying things.", + "Drop the small soda can with lime graphics into the brown basket using the left arm, then lift the brown basket with another arm.", + "Pick the can with red green label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the metallic drink can with pull-tab with the left arm, set it in the basket with handle, and lift with another arm.", + "Pick up the drink can with bright colors, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the soda can with lime illustration, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Take the red green can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Place the green red metallic soda can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the can with red green label, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Use the left arm to grab the red green can and place in the basket with handle, lift the basket with handle with another arm.", + "Place the metallic drink can with pull-tab in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Take the green red metallic soda can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the smooth cylindrical can with lime pattern, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the small soda can with lime graphics, set it into the brown basket, then raise the brown basket.", + "Lift the drink can with bright colors, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Use the left arm to pick the small soda can with lime graphics, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the beverage can with red green graphics using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the red green beverage can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Grab the red green can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Use the left arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to take the red green can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the can with red green label, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the small soda can with lime graphics with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Hold the metal can with pull-tab top using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the beverage can with red green graphics, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the small soda can with lime graphics, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Grab the drink can with bright colors, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the can with red green label, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the soda can with lime illustration with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Pick up the colorful can with lime and orange design, put it into the basket with handle, and lift the basket with handle.", + "Grab and drop the soda can with lime illustration in the basket for holding items, lift the basket for holding items." + ], + "unseen": [ + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..088722b65fda74b604797ed66650a3f2b16601a4 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beverage can with printed label, place it in the yellow basket, and then lift the yellow basket.", + "Take the can with gold top lid, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the smooth white can with accents using the left arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick the can with gold top lid, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Lift the medium metal can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Hold the white can using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Grab and drop the can with rounded cylindrical shape in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Pick up the can with sealed gold top using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the small white can with branding, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm to grab the white can with 3D RADY label, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the can with red-orange text, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Use the left arm to grab the can with red-orange text, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick up the cylindrical white glossy can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Drop the small white can with branding into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Place the can with rounded cylindrical shape in the handheld basket and then lift the handheld basket.", + "Pick the cylindrical white glossy can with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the medium metal can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Use the left arm to grab the can with gold top lid and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Pick the cylindrical white glossy can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the beverage can with printed label, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the small white can with branding, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the medium metal can, set it into the plastic basket, and raise the plastic basket.", + "Take the medium metal can with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the white can with 3D RADY label, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Lift the white can, set it in the basket with black handle, and elevate the basket with black handle.", + "Take the medium metal can in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Take the can with rounded cylindrical shape and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the left arm to grab the can with red-orange text, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to take the can with rounded cylindrical shape, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the smooth white can with accents with the left arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the cylindrical white glossy can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the beverage can with printed label, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the can with red-orange text, set it into the bright yellow basket, then raise the bright yellow basket.", + "Place the medium metal can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the same arm to grab the can with gold top lid, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the yellow basket and lift the yellow basket.", + "Place the beverage can with printed label in the plastic basket and then use another arm to lift the plastic basket.", + "Pick up the small white can with branding, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the can with sealed gold top with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Lift the can with red-orange text with the left arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the can with gold top lid with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the left arm to hold the small white can with branding, drop the small white can with branding into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the small white can with branding with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab the can with sealed gold top, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick up the white can with 3D RADY label, put it into the basket with black handle, and lift the basket with black handle.", + "Grab the can with gold top lid, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Grab the can with sealed gold top, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Take the cylindrical white glossy can, place it into the yellow basket, then lift the yellow basket.", + "Lift the can with sealed gold top, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Use the left arm to pick the can with sealed gold top, place it inside the basket with black handle, then lift the basket with black handle.", + "Use the left arm for the medium metal can, place the medium metal can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red-orange text on white can using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick the white can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Lift the red-orange text on white can, put it in the handheld basket, and carry the handheld basket afterward.", + "Hold the cylindrical white glossy can using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the smooth white can with accents in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the white can using the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the beverage can with printed label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to grab the can with gold top lid, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Lift the can with rounded cylindrical shape, place it in the bright yellow basket, and raise the bright yellow basket.", + "Use the left arm to grab the can with red-orange text, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick up the smooth white can with accents, put it in the basket with black handle, and lift the basket with black handle.", + "Drop the medium metal can into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Place the can with red-orange text in the handheld basket and then lift the handheld basket.", + "Pick the can with rounded cylindrical shape with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Lift the red-orange text on white can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the left arm to grab the small white can with branding and place in the handheld basket, lift the handheld basket with another arm.", + "Pick the medium metal can, set it in the handheld basket, then lift the handheld basket.", + "Lift the can with red-orange text, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick up the medium metal can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the white can, drop it into the yellow basket, and raise the yellow basket.", + "Take the can with rounded cylindrical shape, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the beverage can with printed label with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the beverage can with printed label, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the beverage can with printed label, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Take the medium metal can in the left arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Take the can with gold top lid and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the left arm to grab the smooth white can with accents, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to take the medium metal can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the medium metal can with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the can with gold top lid, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the smooth white can with accents, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the small white can with branding, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Place the red-orange text on white can inside the bright yellow basket, then lift the bright yellow basket.", + "Use the same arm to grab the medium metal can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the small white can with branding using the left arm, drop the small white can with branding into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Place the can with sealed gold top in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Pick up the can with sealed gold top, set it inside the basket with black handle, then lift the basket with black handle.", + "Pick up the cylindrical white glossy can with the left arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Lift the can with red-orange text with the left arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the white can with 3D RADY label with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the left arm to hold the white can, drop the white can into the yellow basket, and lift the yellow basket.", + "Pick the can with sealed gold top with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the beverage can with printed label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick up the can with rounded cylindrical shape, put it into the plastic basket, and lift the plastic basket.", + "Grab the can with gold top lid, place it in the handheld basket, and raise the handheld basket using the other arm." + ], + "unseen": [ + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..33af3c5c51042d8385f01947d2ab9ad8134feca6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red green beverage can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the red green can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the drink can with bright colors, place it into the handheld basket, then lift the handheld basket.", + "Take the colorful can with lime and orange design in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab the metal can with pull-tab top, put it in the handheld basket, then raise the handheld basket.", + "Use the right arm for the red green can, place the red green can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the can with red green label with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the red green beverage can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab and drop the soda can with lime illustration in the yellow basket, lift the yellow basket.", + "Place the soda can with lime illustration in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Lift the can with red green label, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the red green can using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Grab the can with red green label, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the right arm to grab the soda can with lime illustration and place in the handheld basket, lift the handheld basket with another arm.", + "Pick up the red green beverage can, put it into the basket with black handle, and lift the basket with black handle.", + "Take the soda can with lime illustration, set it into the handheld basket, and raise the handheld basket.", + "Pick up the smooth cylindrical can with lime pattern using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the green red metallic soda can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Grab the green red metallic soda can, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab the metal can with pull-tab top using the right arm, drop the metal can with pull-tab top into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Lift the can with red green label, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick the small soda can with lime graphics, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Take the red green beverage can with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the colorful can with lime and orange design, set it inside the yellow basket, then lift the yellow basket.", + "Pick up the red green can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Hold the red green can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Drop the small soda can with lime graphics into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick up the can with red green label, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the red green can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the smooth cylindrical can with lime pattern with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the green red metallic soda can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Lift the metal can with pull-tab top, set it in the basket with black handle, and elevate the basket with black handle.", + "Grab the can with red green label, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Place the metallic drink can with pull-tab inside the plastic basket, then lift the plastic basket.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it in the yellow basket, and lift the yellow basket.", + "Use the right arm to pick the red green beverage can, place it inside the basket with black handle, then lift the basket with black handle.", + "Lift the small soda can with lime graphics with the right arm, set it in the plastic basket, and lift with another arm.", + "Place the red green can in the yellow basket and then use another arm to lift the yellow basket.", + "Pick the colorful can with lime and orange design, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick up the red green can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the soda can with lime illustration, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the soda can with lime illustration, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Grab the drink can with bright colors, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Grab the smooth cylindrical can with lime pattern, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Take the red green beverage can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to hold the colorful can with lime and orange design, drop the colorful can with lime and orange design into the basket with black handle, and lift the basket with black handle.", + "Grab the metallic drink can with pull-tab, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the beverage can with red green graphics, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the drink can with bright colors, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Take the can with red green label in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab the soda can with lime illustration, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the metal can with pull-tab top with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the colorful can with lime and orange design with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab and drop the small soda can with lime graphics in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Place the red green can in the basket with black handle and then lift the basket with black handle.", + "Lift the colorful can with lime and orange design, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the red green can using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the red green beverage can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Use the right arm to grab the drink can with bright colors and place in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the red green beverage can, put it into the handheld basket, and lift the handheld basket.", + "Take the smooth cylindrical can with lime pattern, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the can with red green label using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the colorful can with lime and orange design, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the red green beverage can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the same arm to grab the small soda can with lime graphics, place in the handheld basket, and then lift the handheld basket.", + "Grab the metallic drink can with pull-tab, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Grab the red green can using the right arm, drop the red green can into the plastic basket and lift the plastic basket.", + "Lift the colorful can with lime and orange design, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Pick the metal can with pull-tab top, set it in the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the colorful can with lime and orange design, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Take the colorful can with lime and orange design with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick up the green red metallic soda can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Drop the drink can with bright colors into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Pick up the green red metallic soda can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the soda can with lime illustration with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the soda can with lime illustration with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Lift the can with red green label, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Lift the red green can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Place the smooth cylindrical can with lime pattern inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to take the drink can with bright colors, drop it in the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the drink can with bright colors, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the drink can with bright colors, place it inside the handheld basket, then lift the handheld basket.", + "Lift the beverage can with red green graphics with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Place the red green beverage can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick the small soda can with lime graphics, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Pick up the beverage can with red green graphics, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the red green beverage can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the drink can with bright colors, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Grab the drink can with bright colors, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Grab the soda can with lime illustration, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Take the can with red green label and put it in the handheld basket, then lift the handheld basket.", + "Use the right arm to hold the can with red green label, drop the can with red green label into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface." + ], + "unseen": [ + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..01bd1ae842a13a9cf2702ef51037eb5c705608c5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the can with red green label with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the green red metallic soda can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Grab the smooth cylindrical can with lime pattern, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Use the left arm for the red green beverage can, place the red green beverage can in the brown basket, and lift the brown basket.", + "Use the left arm to grab the smooth cylindrical can with lime pattern, place it into the woven basket, and lift the woven basket using the other arm.", + "Hold the metallic drink can with pull-tab using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the red green beverage can, place it in the basket with handle, and then lift the basket with handle.", + "Take the colorful can with lime and orange design with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the red green can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the can with red green label and place in the woven basket, lift the woven basket with another arm.", + "Grab the green red metallic soda can, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Drop the red green can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Grab the green red metallic soda can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Pick up the metallic drink can with pull-tab with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Pick the smooth cylindrical can with lime pattern with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the left arm to hold the beverage can with red green graphics, drop the beverage can with red green graphics into the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the beverage can with red green graphics, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the red green beverage can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the red green can, drop it into the brown basket, then carry the brown basket.", + "Place the smooth cylindrical can with lime pattern inside the woven basket, then lift the woven basket.", + "Take the colorful can with lime and orange design and put it in the brown basket, then lift the brown basket.", + "Use the left arm to pick the metallic drink can with pull-tab, place it inside the basket for holding items, then lift the basket for holding items.", + "Lift the red green beverage can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Pick up the metallic drink can with pull-tab, place it in the woven basket, and then lift the woven basket.", + "Place the soda can with lime illustration in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Pick up the can with red green label using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the drink can with bright colors, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Pick up the metal can with pull-tab top, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the can with red green label with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick the small soda can with lime graphics with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the green red metallic soda can, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Pick the drink can with bright colors using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Take the small soda can with lime graphics, place it into the basket with handle, then lift the basket with handle.", + "Use the left arm to take the red green can, drop it in the brown basket, and lift the brown basket.", + "Grab the red green beverage can using the left arm, drop the red green beverage can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Lift the red green beverage can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Use the left arm to grab the can with red green label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Place the soda can with lime illustration in the brown basket and then lift the brown basket.", + "Pick up the red green beverage can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the metallic drink can with pull-tab, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Grab the drink can with bright colors, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Take the small soda can with lime graphics in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Grab the metal can with pull-tab top, set it into the light brown oval basket, then raise the light brown oval basket.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the woven basket, and then lift the woven basket.", + "Take the smooth cylindrical can with lime pattern, set it into the woven basket, and raise the woven basket.", + "Lift the red green beverage can, set it in the basket with handle, and elevate the basket with handle.", + "Grab and drop the metallic drink can with pull-tab in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Grab the small soda can with lime graphics with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the soda can with lime illustration, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the green red metallic soda can, set it inside the woven basket, then lift the woven basket.", + "Lift the metal can with pull-tab top with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Grab the drink can with bright colors, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Grab the beverage can with red green graphics, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Use the left arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the metal can with pull-tab top, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Hold the beverage can with red green graphics using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the red green can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the red green beverage can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick up the metallic drink can with pull-tab, put it into the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the soda can with lime illustration and place in the woven basket, lift the woven basket with another arm.", + "Grab the green red metallic soda can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Drop the red green can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.", + "Grab the beverage can with red green graphics, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the red green can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Pick the metallic drink can with pull-tab with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Use the left arm to hold the can with red green label, drop the can with red green label into the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the drink can with bright colors, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the beverage can with red green graphics, drop it into the basket for holding items, then carry the basket for holding items.", + "Place the red green beverage can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the small soda can with lime graphics and put it in the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to pick the red green can, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the soda can with lime illustration, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Pick up the smooth cylindrical can with lime pattern, place it in the brown basket, and then lift the brown basket.", + "Place the colorful can with lime and orange design in the basket with handle and then use another arm to lift the basket with handle.", + "Pick up the green red metallic soda can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the green red metallic soda can, set it in the woven basket, and lift the woven basket upward.", + "Pick up the colorful can with lime and orange design, place it into the brown basket, then lift the brown basket.", + "Pick the red green beverage can with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick the metal can with pull-tab top with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the small soda can with lime graphics, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the colorful can with lime and orange design using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Take the red green can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the left arm to take the smooth cylindrical can with lime pattern, drop it in the basket for holding items, and lift the basket for holding items.", + "Grab the drink can with bright colors using the left arm, drop the drink can with bright colors into the basket for carrying things and lift the basket for carrying things.", + "Lift the red green can, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Use the left arm to grab the red green beverage can, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Place the soda can with lime illustration in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Pick up the red green beverage can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the can with red green label, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Grab the smooth cylindrical can with lime pattern, drop it into the woven basket, and raise the woven basket with the other arm.", + "Take the metal can with pull-tab top in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Grab the drink can with bright colors, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Use the same arm to grab the beverage can with red green graphics, place in the light brown oval basket, and then lift the light brown oval basket.", + "Take the drink can with bright colors, set it into the woven basket, and raise the woven basket.", + "Lift the small soda can with lime graphics, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab and drop the red green beverage can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Grab the metal can with pull-tab top with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Lift the beverage can with red green graphics, place it in the basket for holding items, and raise the basket for holding items.", + "Pick up the red green beverage can, set it inside the basket for carrying things, then lift the basket for carrying things." + ], + "unseen": [ + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f5f1aa538232744d5efcbc72071dec8bed78e6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the light brown oval basket, and lift the light brown oval basket.", + "Hold the can with red green label using the right arm, place it in the basket with handle, and lift the basket with handle.", + "Use the right arm to grab the metallic drink can with pull-tab, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Pick the metallic drink can with pull-tab, set it in the brown basket, and lift the brown basket upward.", + "Pick up the red green beverage can with the right arm, place into the basket with handle, the other arm raises the basket with handle.", + "Pick up the colorful can with lime and orange design, put it into the basket for holding items, and lift the basket for holding items.", + "Pick the can with red green label using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Place the metallic drink can with pull-tab in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the red green beverage can, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Lift the metallic drink can with pull-tab, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Use the right arm to hold the red green can, drop the red green can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the woven basket, and lift the woven basket using another arm.", + "Drop the colorful can with lime and orange design into the brown basket using the right arm, then lift the brown basket with another arm.", + "Take the smooth cylindrical can with lime pattern with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Take the green red metallic soda can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the small soda can with lime graphics, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the drink can with bright colors, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Use the right arm to grab the small soda can with lime graphics, place it in the basket with handle, and lift the basket with handle.", + "Use the right arm to grab the red green can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the brown basket, and raise the brown basket.", + "Grab and drop the soda can with lime illustration in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Grab the metallic drink can with pull-tab, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Grab the drink can with bright colors, place it in the basket with handle, and then lift the basket with handle.", + "Lift the metal can with pull-tab top, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick up the soda can with lime illustration, place it into the brown basket, then lift the brown basket.", + "Place the red green can in the woven basket and then lift the woven basket.", + "Pick up the red green beverage can, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the red green can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Pick the small soda can with lime graphics with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Lift the red green can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Pick up the soda can with lime illustration, set it inside the basket for holding items, then lift the basket for holding items.", + "Take the soda can with lime illustration, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the right arm to grab the can with red green label and place in the basket for holding items, lift the basket for holding items with another arm.", + "Pick the green red metallic soda can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Take the small soda can with lime graphics and put it in the brown basket, then lift the brown basket.", + "Lift the can with red green label, place it inside the basket with handle, and elevate the basket with handle.", + "Place the beverage can with red green graphics inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red green beverage can in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Use the right arm to pick the red green can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the metallic drink can with pull-tab, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Grab the green red metallic soda can with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Grab the drink can with bright colors, set it into the basket for carrying things, then raise the basket for carrying things.", + "Grab the green red metallic soda can, put it in the basket with handle, then raise the basket with handle.", + "Lift the drink can with bright colors with the right arm, set it in the basket with handle, and lift with another arm.", + "Pick up the drink can with bright colors, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the smooth cylindrical can with lime pattern using the right arm, drop the smooth cylindrical can with lime pattern into the basket for holding items and lift the basket for holding items.", + "Use the right arm to take the red green beverage can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the red green beverage can using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm for the metallic drink can with pull-tab, place the metallic drink can with pull-tab in the woven basket, and lift the woven basket.", + "Hold the green red metallic soda can using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Pick the drink can with bright colors, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Pick up the colorful can with lime and orange design with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Pick up the green red metallic soda can, put it into the basket with handle, and lift the basket with handle.", + "Pick the colorful can with lime and orange design using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Place the colorful can with lime and orange design in the woven basket and then use another arm to lift the woven basket.", + "Lift the green red metallic soda can, drop it into the basket with handle, then carry the basket with handle.", + "Lift the beverage can with red green graphics, place it in the brown basket, pick up the brown basket afterward.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the woven basket, and lift the woven basket.", + "Pick the can with red green label with the right arm, set it in the woven basket, and lift the woven basket using another arm.", + "Drop the metallic drink can with pull-tab into the brown basket with woven ridges using the right arm, then lift the brown basket with woven ridges with another arm.", + "Take the red green beverage can with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Take the colorful can with lime and orange design, place it into the woven basket, then lift the woven basket.", + "Pick the red green beverage can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the colorful can with lime and orange design, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Use the right arm to grab the metal can with pull-tab top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to grab the red green can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Grab the colorful can with lime and orange design, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab and drop the soda can with lime illustration in the brown basket, lift the brown basket.", + "Grab the red green beverage can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Grab the beverage can with red green graphics, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Lift the colorful can with lime and orange design, place it in the basket with handle, and raise the basket with handle.", + "Pick up the small soda can with lime graphics, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the red green can in the woven basket and then lift the woven basket.", + "Pick up the red green can, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the beverage can with red green graphics, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Lift the colorful can with lime and orange design, set it in the woven basket, and elevate the woven basket.", + "Pick up the metal can with pull-tab top, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Take the soda can with lime illustration, set it into the light brown oval basket, and raise the light brown oval basket.", + "Use the right arm to grab the red green beverage can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick the drink can with bright colors with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the colorful can with lime and orange design and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the smooth cylindrical can with lime pattern, place it inside the basket with handle, and elevate the basket with handle.", + "Place the small soda can with lime graphics inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the beverage can with red green graphics in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Use the right arm to pick the drink can with bright colors, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the metal can with pull-tab top, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Grab the beverage can with red green graphics, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Grab the beverage can with red green graphics with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Use the same arm to grab the drink can with bright colors, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the metallic drink can with pull-tab, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Grab the metal can with pull-tab top, put it in the basket with loop handle, then raise the basket with loop handle.", + "Lift the green red metallic soda can with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Pick up the metal can with pull-tab top, place it in the basket for holding items, and then lift the basket for holding items.", + "Grab the metal can with pull-tab top using the right arm, drop the metal can with pull-tab top into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Use the right arm to take the red green can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the can with red green label using the right arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm." + ], + "unseen": [ + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbf53c307e6bdcf8eaf5240e568de5ed3ab95c0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metal can with red base, set it into the basket for holding items, and raise the basket for holding items.", + "Use the left arm to pick the red drink can with white lid, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the metal can with red base, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Pick the red can with decorative label with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the cylindrical metal can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Hold the red shiny can with green label using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Grab the cylindrical can with flat surfaces, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Pick up the red soda can with green accents, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the red soda can with green accents, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the red shiny can with green label using the left arm, drop the red shiny can with green label into the basket for carrying things and lift the basket for carrying things.", + "Lift the cylindrical metal can, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Lift the drink can with smooth red finish with the left arm, set it in the basket for holding items, and lift with another arm.", + "Place the red can with decorative label in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Use the same arm to grab the red shiny can with green label, place in the woven basket, and then lift the woven basket.", + "Use the left arm to grab the can with flat silver bottom, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Lift the red and white beverage can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick the smooth red can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the cylindrical can with flat surfaces, put it in the brown basket, then raise the brown basket.", + "Use the left arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to take the red and white beverage can, drop it in the basket with handle, and lift the basket with handle.", + "Use the left arm for the smooth red can, place the smooth red can in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the red soda can with green accents inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the red can with decorative label with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the left arm to grab the can with flat silver bottom and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Grab the red shiny can with green label, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Place the smooth red can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Pick up the can with flat silver bottom using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Pick up the red drink can with white lid, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the red can with decorative label with the left arm, set it in the woven basket, and lift the woven basket using another arm.", + "Take the red shiny can with green label and put it in the basket for holding items, then lift the basket for holding items.", + "Pick up the medium-sized soda can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the cylindrical metal can, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the red and white beverage can, set it in the basket with handle, and elevate the basket with handle.", + "Grab and drop the red shiny can with green label in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the smooth red can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Take the smooth red can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth red can with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Drop the red shiny can with green label into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Pick the cylindrical metal can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the metal can with red base, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the metal can with red base, drop it into the woven basket, and raise the woven basket with the other arm.", + "Use the left arm to grab the red shiny can with green label, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Grab the medium-sized soda can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the red shiny can with green label with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Pick the red shiny can with green label, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Take the red drink can with white lid in the left arm, place it into the woven basket, another arm lifts the woven basket.", + "Lift the smooth red can, put it in the brown basket, and carry the brown basket afterward.", + "Grab the cylindrical can with flat surfaces, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Take the drink can with smooth red finish with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Pick up the red and white beverage can, put it in the basket for carrying things, and lift the basket for carrying things.", + "Take the cylindrical can with flat surfaces, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Use the left arm to pick the cylindrical metal can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the cylindrical can with flat surfaces, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the can with flat silver bottom, place it in the woven basket, and raise the woven basket using the other arm.", + "Hold the cylindrical metal can using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the smooth red can, place it in the brown basket, and lift the brown basket upwards.", + "Pick up the cylindrical metal can, set it inside the basket for holding items, then lift the basket for holding items.", + "Grab the red drink can with white lid, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the can with flat silver bottom using the left arm, drop the can with flat silver bottom into the brown basket and lift the brown basket.", + "Lift the medium-sized soda can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Lift the red drink can with white lid with the left arm, set it in the basket made of woven wood, and lift with another arm.", + "Place the medium-sized soda can in the woven basket and then lift the woven basket.", + "Use the same arm to grab the cylindrical metal can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the red and white beverage can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Lift the drink can with smooth red finish, place it in the basket with loop handle, and raise the basket with loop handle.", + "Pick the red and white beverage can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the red drink can with white lid, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Use the left arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the light brown oval basket, and lift the light brown oval basket.", + "Use the left arm to take the cylindrical can with flat surfaces, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm for the red can with decorative label, place the red can with decorative label in the brown basket, and lift the brown basket.", + "Place the cylindrical metal can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the cylindrical metal can with the left arm, drop it in the woven basket, lift the woven basket with another arm.", + "Use the left arm to grab the drink can with smooth red finish and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the red drink can with white lid, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Place the cylindrical metal can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Pick up the medium-sized soda can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Pick up the red can with decorative label, put it into the basket with handle, and lift the basket with handle.", + "Pick the red can with decorative label with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the red and white beverage can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the red soda can with green accents, place it in the woven basket, and then lift the woven basket.", + "Use the left arm to grab the red drink can with white lid, place it in the basket for holding items, and lift the basket for holding items.", + "Lift the red can with decorative label, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab and drop the red drink can with white lid in the woven basket, lift the woven basket.", + "Pick up the drink can with smooth red finish, place it into the basket with loop handle, then lift the basket with loop handle.", + "Take the red soda can with green accents, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the can with flat silver bottom with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Drop the can with flat silver bottom into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Pick the cylindrical metal can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Lift the metal can with red base, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Grab the metal can with red base, drop it into the woven basket, and raise the woven basket with the other arm.", + "Use the left arm to grab the red shiny can with green label, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Grab the metal can with red base, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick up the red shiny can with green label with the left arm, place into the brown basket, the other arm raises the brown basket.", + "Pick the red shiny can with green label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Take the medium-sized soda can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Lift the red soda can with green accents, put it in the basket with handle, and carry the basket with handle afterward.", + "Grab the medium-sized soda can, place it in the woven basket, and then lift the woven basket.", + "Take the red soda can with green accents with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick up the red and white beverage can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges." + ], + "unseen": [ + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can with white top, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..da854e00864497058204d1b3cfe998072d2818dc --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the can with gold top lid, place it into the plastic basket, then lift the plastic basket.", + "Take the beverage can with printed label in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Lift the smooth white can with accents, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the plastic basket, and lift the plastic basket.", + "Pick the smooth white can with accents with the left arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the can with gold top lid with the left arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the bright yellow basket and lift the bright yellow basket.", + "Pick up the can with sealed gold top with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Use the same arm to grab the beverage can with printed label, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the red-orange text on white can, set it inside the plastic basket, then lift the plastic basket.", + "Place the can with sealed gold top inside the basket with perforated sides, then lift the basket with perforated sides.", + "Place the white can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the left arm for the medium metal can, place the medium metal can in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the can with rounded cylindrical shape and put it in the plastic basket, then lift the plastic basket.", + "Grab the smooth white can with accents, drop it into the yellow basket, and raise the yellow basket.", + "Grab and drop the can with gold top lid in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the can with rounded cylindrical shape, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Use the left arm to take the can with gold top lid, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with red-orange text, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick up the can with sealed gold top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the smooth white can with accents, place it in the bright yellow basket, and raise the bright yellow basket.", + "Take the cylindrical white glossy can with the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the small white can with branding, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the medium metal can with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Lift the medium metal can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Hold the white can using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the can with rounded cylindrical shape, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the left arm to pick the can with gold top lid, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the can with gold top lid in the handheld basket and then lift the handheld basket.", + "Lift the small white can with branding, place it inside the yellow basket, and elevate the yellow basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the white can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Use the left arm to grab the cylindrical white glossy can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Drop the red-orange text on white can into the basket with arched black grip using the left arm, then lift the basket with arched black grip with another arm.", + "Pick up the smooth white can with accents using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the can with sealed gold top, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick the smooth white can with accents, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the can with gold top lid, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to grab the can with rounded cylindrical shape, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the can with rounded cylindrical shape, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the beverage can with printed label with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Use the left arm to grab the can with rounded cylindrical shape, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Pick the can with gold top lid using the left arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the can with gold top lid, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the cylindrical white glossy can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Pick up the can with rounded cylindrical shape, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick the can with red-orange text with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the beverage can with printed label, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the red-orange text on white can, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the smooth white can with accents, set it into the plastic basket, then raise the plastic basket.", + "Take the small white can with branding, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the small white can with branding in the left arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Lift the can with sealed gold top, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the basket with black handle, and lift the basket with black handle.", + "Pick the white can with the left arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Grab the white can with the left arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the bright yellow basket and lift the bright yellow basket.", + "Pick up the can with rounded cylindrical shape with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Use the same arm to grab the cylindrical white glossy can, place in the yellow basket, and then lift the yellow basket.", + "Pick up the can with sealed gold top, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Place the can with gold top lid inside the bright yellow basket, then lift the bright yellow basket.", + "Place the beverage can with printed label in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the bright yellow basket, and lift the bright yellow basket.", + "Take the can with red-orange text and put it in the yellow basket, then lift the yellow basket.", + "Grab the can with red-orange text, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab and drop the can with sealed gold top in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the smooth white can with accents, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Use the left arm to take the medium metal can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the can with gold top lid, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick up the can with rounded cylindrical shape, put it in the handheld basket, and lift the handheld basket.", + "Lift the can with gold top lid, place it in the yellow basket, and raise the yellow basket.", + "Take the medium metal can with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the white can with 3D RADY label, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Lift the can with gold top lid with the left arm, set it in the plastic basket, and lift with another arm.", + "Lift the medium metal can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Hold the small white can with branding using the left arm, place it in the handheld basket, and lift the handheld basket.", + "Grab the white can, place it in the handheld basket, and then lift the handheld basket.", + "Use the left arm to pick the can with gold top lid, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the white can with 3D RADY label in the basket with arched black grip and then lift the basket with arched black grip.", + "Lift the medium metal can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Use the left arm to grab the can with sealed gold top, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the white can with 3D RADY label, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Use the left arm to grab the medium metal can and place in the handheld basket, lift the handheld basket with another arm.", + "Drop the cylindrical white glossy can into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Pick up the white can using the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the can with gold top lid, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick the can with rounded cylindrical shape, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Pick up the small white can with branding, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the left arm to grab the can with sealed gold top, place it in the yellow basket, and lift the yellow basket.", + "Pick up the red-orange text on white can, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick the medium metal can with the left arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the left arm to grab the red-orange text on white can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Pick the can with red-orange text using the left arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick the beverage can with printed label, set it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the smooth white can with accents, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Pick up the can with red-orange text, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the white can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the medium metal can, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the white can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Grab the smooth white can with accents, set it into the bright yellow basket, then raise the bright yellow basket." + ], + "unseen": [ + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..279caef30afeb2a96512689b514c5cdc28c351ec --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red beverage can with curved top, put it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the bright red drink container can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Use the right arm to grab the smooth red soda can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the red can with gold illustrations, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick up the compact metal drink can, place it in the basket with handle, and then lift the basket with handle.", + "Place the metallic soda can in the basket with handle and then lift the basket with handle.", + "Place the gold patterned beverage can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the gold patterned beverage can, drop it into the brown basket, then carry the brown basket.", + "Use the right arm to take the compact metal drink can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Take the red and gold cylindrical can, place it into the woven basket, then lift the woven basket.", + "Pick the palm-sized drink can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Use the right arm to grab the gold patterned beverage can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Drop the gold-decorated aluminum can into the woven basket using the right arm, then lift the woven basket with another arm.", + "Pick up the red and gold cylindrical can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab and drop the red beverage can with curved top in the woven basket, lift the woven basket.", + "Pick up the metallic can with rounded edges, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red can in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Lift the red can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Pick the red can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Take the red can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the red can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Use the same arm to grab the red beverage can with curved top, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the gold patterned beverage can, place it in the woven basket, pick up the woven basket afterward.", + "Take the gold-decorated aluminum can, set it into the basket with handle, and raise the basket with handle.", + "Grab the bright red drink container can, place it in the basket with handle, and lift the basket with handle upwards.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the smooth red soda can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Lift the red can with gold illustrations, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Grab the gold patterned beverage can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the gold patterned beverage can using the right arm, drop the gold patterned beverage can into the brown basket and lift the brown basket.", + "Grab the red beverage can with curved top, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Use the right arm to pick the smooth red soda can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the gold patterned beverage can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Pick the red and gold cylindrical can with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick up the gold-decorated aluminum can with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Take the bright red drink container can with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the red beverage can with curved top, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Use the right arm to grab the red can with gold illustrations, place it into the woven basket, and lift the woven basket using the other arm.", + "Hold the compact metal drink can using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm for the red beverage can with curved top, place the red beverage can with curved top in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the red beverage can with curved top, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Lift the red beverage can with curved top with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Grab the red beverage can with curved top, set it into the woven basket, then raise the woven basket.", + "Pick the metallic soda can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the metallic soda can using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Pick up the bright red drink container can using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the smooth red soda can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the metallic soda can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the red can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the gold-decorated aluminum can with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the palm-sized drink can, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the smooth red soda can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Use the right arm to grab the palm-sized drink can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the gold patterned beverage can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the red beverage can with curved top, place it in the woven basket, and then lift the woven basket.", + "Place the compact metal drink can in the basket for carrying things and then lift the basket for carrying things.", + "Place the metallic can with rounded edges inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the metallic soda can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Use the right arm to take the metallic can with rounded edges, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the compact metal drink can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the gold patterned beverage can with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Use the right arm to grab the smooth red soda can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Drop the red can into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Pick up the palm-sized drink can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab and drop the red beverage can with curved top in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Pick up the bright red drink container can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the metallic soda can in the right arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Lift the red can, set it in the basket for holding items, and elevate the basket for holding items.", + "Pick the red beverage can with curved top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Take the gold-decorated aluminum can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Use the same arm to grab the metallic can with rounded edges, place in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the metallic soda can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Take the gold-decorated aluminum can, set it into the basket for holding items, and raise the basket for holding items.", + "Grab the red beverage can with curved top, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the basket for carrying things, and lift the basket for carrying things.", + "Place the bright red drink container can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the gold patterned beverage can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Grab the red beverage can with curved top, put it in the light brown oval basket, then raise the light brown oval basket.", + "Grab the bright red drink container can using the right arm, drop the bright red drink container can into the basket for carrying things and lift the basket for carrying things.", + "Grab the smooth red soda can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Use the right arm to pick the red can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the gold patterned beverage can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the metallic soda can with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick up the red and gold cylindrical can with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Take the red can with gold illustrations with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the red can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to grab the bright red drink container can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Hold the red and gold cylindrical can using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the bright red drink container can, place it inside the basket with handle, and elevate the basket with handle.", + "Lift the red beverage can with curved top with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Grab the red can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick the gold-decorated aluminum can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Pick the red can with gold illustrations using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick up the red can with gold illustrations using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the metallic can with rounded edges, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Lift the compact metal drink can, place it in the light brown oval basket, and raise the light brown oval basket.", + "Pick the palm-sized drink can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the bright red drink container can with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm." + ], + "unseen": [ + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..cab67eb2b699b6932f3db093996925fa304d37f5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the rounded metallic can, set it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the brown can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm to take the white patterned brown metal can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the light brown can with smooth texture with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Pick the hand-sized metallic can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the smooth light brown can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the metal can with printed white graphics with the left arm, set it in the basket with handle, and lift with another arm.", + "Grab the brown can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Use the left arm to pick the white patterned brown metal can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Place the smooth light brown can inside the brown basket, then lift the brown basket.", + "Place the smooth brown can with rounded edges in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Pick the hand-sized metallic can, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Drop the smooth brown can with rounded edges into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Pick up the white patterned brown metal can, place it in the woven basket, and then lift the woven basket.", + "Pick the brown can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the hand-sized metallic can, place it in the brown basket, and then lift the brown basket.", + "Use the same arm to grab the white patterned brown metal can, place in the basket for holding items, and then lift the basket for holding items.", + "Grab and drop the hand-sized metallic can in the light brown oval basket, lift the light brown oval basket.", + "Lift the smooth brown can with rounded edges, set it in the basket for holding items, and elevate the basket for holding items.", + "Lift the white patterned brown metal can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Pick up the smooth brown can with rounded edges, place it into the brown basket, then lift the brown basket.", + "Take the light brown can with smooth texture, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the small light brown cylindrical can with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Grab the drink can with light brown shade, put it in the woven basket, then raise the woven basket.", + "Pick up the small cylindrical drink container, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the light brown can with smooth texture, drop it into the brown basket, then use another arm for the brown basket.", + "Hold the metal can with printed white graphics using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the smooth brown can with rounded edges, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Use the left arm for the white patterned brown metal can, place the white patterned brown metal can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the smooth light brown can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the smooth brown can with rounded edges, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Grab the smooth light brown can using the left arm, drop the smooth light brown can into the basket for carrying things and lift the basket for carrying things.", + "Pick the drink can with light brown shade with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the metal can with white decorative designs, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Use the left arm to grab the hand-sized metallic can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the drink can with light brown shade, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the left arm to grab the white patterned brown metal can, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Take the drink can with light brown shade and put it in the basket with loop handle, then lift the basket with loop handle.", + "Pick the rounded metallic can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the white patterned brown metal can and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Lift the small cylindrical drink container, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick the brown can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Grab the metal can with printed white graphics, set it into the light brown oval basket, then raise the light brown oval basket.", + "Use the left arm to grab the small light brown cylindrical can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Pick up the drink can with light brown shade, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the rounded metallic can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Use the left arm to hold the hand-sized metallic can, drop the hand-sized metallic can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the rounded metallic can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the small light brown cylindrical can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Place the drink can with light brown shade in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Take the brown can, set it into the woven basket, and raise the woven basket.", + "Grab the metal can with printed white graphics with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to take the hand-sized metallic can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Take the smooth brown can with rounded edges with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick the small cylindrical drink container with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the metal can with white decorative designs, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the metal can with white decorative designs with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Grab the brown can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Use the left arm to pick the small cylindrical drink container, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the rounded metallic can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Place the hand-sized metallic can in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick the metal can with printed white graphics, set it in the brown basket, and lift the brown basket upward.", + "Drop the hand-sized metallic can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Pick up the small light brown cylindrical can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick the rounded metallic can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the drink can with light brown shade, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the same arm to grab the small cylindrical drink container, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab and drop the small light brown cylindrical can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Lift the metal can with white decorative designs, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the rounded metallic can, place it inside the basket with handle, and elevate the basket with handle.", + "Pick up the hand-sized metallic can, place it into the basket for holding items, then lift the basket for holding items.", + "Take the metal can with white decorative designs, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the small cylindrical drink container with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab the smooth light brown can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick up the rounded metallic can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the drink can with light brown shade, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Hold the metal can with white decorative designs using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the drink can with light brown shade, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Use the left arm for the rounded metallic can, place the rounded metallic can in the basket with loop handle, and lift the basket with loop handle.", + "Take the metal can with printed white graphics in the left arm, place it into the brown basket, another arm lifts the brown basket.", + "Lift the brown can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Grab the rounded metallic can using the left arm, drop the rounded metallic can into the basket with handle and lift the basket with handle.", + "Pick the metal can with printed white graphics with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Grab the white patterned brown metal can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Use the left arm to grab the rounded metallic can, place it in the basket for holding items, and lift the basket for holding items.", + "Lift the drink can with light brown shade, place it in the brown basket, and raise the brown basket.", + "Use the left arm to grab the drink can with light brown shade, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Take the light brown can with smooth texture and put it in the brown basket, then lift the brown basket.", + "Pick the smooth light brown can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Use the left arm to grab the hand-sized metallic can and place in the brown basket, lift the brown basket with another arm.", + "Lift the metal can with printed white graphics, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Pick the smooth light brown can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the brown can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Use the left arm to grab the smooth brown can with rounded edges, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Pick up the white patterned brown metal can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the metal can with printed white graphics, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Use the left arm to hold the metal can with printed white graphics, drop the metal can with printed white graphics into the basket for holding items, and lift the basket for holding items.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Grab the small light brown cylindrical can, drop it into the basket with handle, and raise the basket with handle.", + "Place the metal can with white decorative designs in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the rounded can with smooth printed surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..fe67393d639a8be079ee42ce51249f5c8cd8a1c1 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the can with red green label using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the can with red green label, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Lift the small soda can with lime graphics, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Lift the can with red green label, drop it into the basket with black handle, then carry the basket with black handle.", + "Grab the green red metallic soda can using the left arm, drop the green red metallic soda can into the basket with arched black grip and lift the basket with arched black grip.", + "Take the drink can with bright colors and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the colorful can with lime and orange design in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the can with red green label with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the left arm to grab the smooth cylindrical can with lime pattern, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Use the same arm to grab the small soda can with lime graphics, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick the small soda can with lime graphics with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the soda can with lime illustration, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the smooth cylindrical can with lime pattern with the left arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the left arm to pick the metallic drink can with pull-tab, place it inside the basket with black handle, then lift the basket with black handle.", + "Pick up the soda can with lime illustration, put it in the plastic basket, and lift the plastic basket.", + "Pick the drink can with bright colors using the left arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the metal can with pull-tab top, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Drop the colorful can with lime and orange design into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the left arm to take the smooth cylindrical can with lime pattern, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the colorful can with lime and orange design, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the small soda can with lime graphics, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red green can, drop it into the plastic basket, and raise the plastic basket.", + "Grab the green red metallic soda can, set it into the plastic basket, then raise the plastic basket.", + "Take the green red metallic soda can with the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the left arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the basket with arched black grip, and lift the basket with arched black grip.", + "Place the smooth cylindrical can with lime pattern inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the drink can with bright colors with the left arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the metallic drink can with pull-tab, set it into the yellow basket, and raise the yellow basket.", + "Use the left arm for the small soda can with lime graphics, place the small soda can with lime graphics in the plastic basket, and lift the plastic basket.", + "Place the beverage can with red green graphics in the basket with arched black grip and then lift the basket with arched black grip.", + "Place the metallic drink can with pull-tab in the handheld basket and then use another arm to lift the handheld basket.", + "Pick up the drink can with bright colors, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the colorful can with lime and orange design, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the red green can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Lift the red green beverage can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the beverage can with red green graphics, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Grab the metal can with pull-tab top, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick up the small soda can with lime graphics, put it into the basket with black handle, and lift the basket with black handle.", + "Grab and drop the small soda can with lime graphics in the handheld basket, lift the handheld basket.", + "Use the left arm to grab the drink can with bright colors and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Use the left arm to grab the colorful can with lime and orange design, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the colorful can with lime and orange design, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the left arm to grab the beverage can with red green graphics, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Lift the red green can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the beverage can with red green graphics, put it in the plastic basket, then raise the plastic basket.", + "Take the metal can with pull-tab top, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Hold the can with red green label using the left arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the metal can with pull-tab top with the left arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the red green beverage can with the left arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Lift the red green can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Pick up the red green beverage can using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the can with red green label, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the metal can with pull-tab top, drop it into the handheld basket, then carry the handheld basket.", + "Grab the red green beverage can using the left arm, drop the red green beverage can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Take the metal can with pull-tab top and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the metallic drink can with pull-tab with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Use the left arm to grab the small soda can with lime graphics, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Use the same arm to grab the red green can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the colorful can with lime and orange design with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the green red metallic soda can, set it in the yellow basket, and elevate the yellow basket.", + "Lift the smooth cylindrical can with lime pattern with the left arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Use the left arm to pick the red green beverage can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the colorful can with lime and orange design, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the soda can with lime illustration using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Grab the red green beverage can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Drop the soda can with lime illustration into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Use the left arm to take the red green can, drop it in the basket with black handle, and lift the basket with black handle.", + "Pick up the soda can with lime illustration, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the red green can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the beverage can with red green graphics, drop it into the yellow basket, and raise the yellow basket.", + "Grab the colorful can with lime and orange design, set it into the yellow basket, then raise the yellow basket.", + "Take the colorful can with lime and orange design with the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the left arm to hold the beverage can with red green graphics, drop the beverage can with red green graphics into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the small soda can with lime graphics inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the can with red green label with the left arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Take the metal can with pull-tab top, set it into the handheld basket, and raise the handheld basket.", + "Use the left arm for the small soda can with lime graphics, place the small soda can with lime graphics in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the metallic drink can with pull-tab in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Place the soda can with lime illustration in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Pick up the red green can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the colorful can with lime and orange design, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the soda can with lime illustration, place it in the handheld basket, and then lift the handheld basket.", + "Lift the can with red green label, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab the small soda can with lime graphics, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Grab the beverage can with red green graphics, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick up the metallic drink can with pull-tab, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab and drop the soda can with lime illustration in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the left arm to grab the metal can with pull-tab top and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Use the left arm to grab the soda can with lime illustration, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the smooth cylindrical can with lime pattern, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the left arm to grab the small soda can with lime graphics, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Lift the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the drink can with bright colors, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Take the beverage can with red green graphics, place it into the plastic basket, then lift the plastic basket.", + "Hold the red green can using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the drink can with bright colors with the left arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Pick up the green red metallic soda can with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Lift the metallic drink can with pull-tab, put it in the plastic basket, and carry the plastic basket afterward." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd4d0da4fdb5b3b815e6b9db8b047332aaf6db8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth red can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Lift the medium-sized soda can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick up the red and white beverage can, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the red shiny can with green label, place it into the basket with handle, then lift the basket with handle.", + "Grab the red drink can with white lid, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Use the left arm for the drink can with smooth red finish, place the drink can with smooth red finish in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the smooth red can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the cylindrical can with flat surfaces with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Lift the drink can with smooth red finish, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Grab the cylindrical can with flat surfaces, drop it into the basket for holding items, and raise the basket for holding items.", + "Hold the red and white beverage can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Place the red shiny can with green label inside the light brown oval basket, then lift the light brown oval basket.", + "Pick the smooth red can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Lift the cylindrical metal can with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Lift the red shiny can with green label, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Use the left arm to hold the red soda can with green accents, drop the red soda can with green accents into the basket with handle, and lift the basket with handle.", + "Pick the medium-sized soda can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Take the cylindrical can with flat surfaces with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Use the same arm to grab the metal can with red base, place in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the cylindrical can with flat surfaces, set it into the light brown oval basket, then raise the light brown oval basket.", + "Pick up the red and white beverage can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the red and white beverage can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the cylindrical can with flat surfaces, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the drink can with smooth red finish, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Drop the medium-sized soda can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Pick the red shiny can with green label, set it in the basket with handle, and lift the basket with handle upward.", + "Place the red and white beverage can in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Use the left arm to grab the can with flat silver bottom, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Pick up the drink can with smooth red finish, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Take the red and white beverage can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Grab the cylindrical metal can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick the cylindrical metal can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the red can with decorative label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Use the left arm to take the cylindrical metal can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab and drop the can with flat silver bottom in the woven basket, lift the woven basket.", + "Use the left arm to pick the medium-sized soda can, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the red and white beverage can using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Place the red and white beverage can in the basket with handle and then use another arm to lift the basket with handle.", + "Lift the smooth red can, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Use the left arm to grab the metal can with red base, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the red and white beverage can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the cylindrical metal can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the cylindrical metal can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Take the red soda can with green accents, set it into the basket with loop handle, and raise the basket with loop handle.", + "Grab the drink can with smooth red finish, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Take the red drink can with white lid and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to grab the cylindrical can with flat surfaces and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Take the red can with decorative label, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the medium-sized soda can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the cylindrical can with flat surfaces using the left arm, drop the cylindrical can with flat surfaces into the basket with handle and lift the basket with handle.", + "Lift the smooth red can, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Lift the red soda can with green accents, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Pick up the can with flat silver bottom, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the red soda can with green accents, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the metal can with red base, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Use the left arm for the medium-sized soda can, place the medium-sized soda can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the drink can with smooth red finish with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick up the red can with decorative label with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Lift the cylindrical can with flat surfaces, place it inside the woven basket, and elevate the woven basket.", + "Grab the metal can with red base, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Hold the medium-sized soda can using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Place the metal can with red base inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the can with flat silver bottom, set it in the woven basket, then lift the woven basket.", + "Lift the red soda can with green accents with the left arm, set it in the woven basket, and lift with another arm.", + "Lift the red and white beverage can, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Use the left arm to hold the cylindrical metal can, drop the cylindrical metal can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the cylindrical metal can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Take the red can with decorative label with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Use the same arm to grab the medium-sized soda can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the medium-sized soda can, set it into the light brown oval basket, then raise the light brown oval basket.", + "Pick up the red and white beverage can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the drink can with smooth red finish, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the red drink can with white lid, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the left arm to grab the red drink can with white lid, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Drop the smooth red can into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.", + "Pick the red drink can with white lid, set it in the brown basket, and lift the brown basket upward.", + "Place the medium-sized soda can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the medium-sized soda can, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the medium-sized soda can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Take the cylindrical metal can in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab the can with flat silver bottom, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the smooth red can with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab the cylindrical can with flat surfaces, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Use the left arm to take the cylindrical can with flat surfaces, drop it in the basket for holding items, and lift the basket for holding items.", + "Grab and drop the can with flat silver bottom in the basket with handle, lift the basket with handle.", + "Use the left arm to pick the red can with decorative label, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the medium-sized soda can using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Place the drink can with smooth red finish in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Lift the cylindrical can with flat surfaces, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Use the left arm to grab the drink can with smooth red finish, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the metal can with red base, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the smooth red can, place it in the basket for holding items, and raise the basket for holding items.", + "Grab the drink can with smooth red finish, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Take the metal can with red base, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the medium-sized soda can, place it in the woven basket, and raise the woven basket using the other arm.", + "Take the can with flat silver bottom and put it in the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the red shiny can with green label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Take the red can with decorative label, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the red and white beverage can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the cylindrical can with flat surfaces using the left arm, drop the cylindrical can with flat surfaces into the basket made of woven wood and lift the basket made of woven wood." + ], + "unseen": [ + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can with white top, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..23abcbccddb267c8d4e10b545bd6135fc0b6c78d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the smooth red soda can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the bright red drink container can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Pick up the red beverage can with curved top with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Lift the bright red drink container can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick the red can, set it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the red can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Place the compact metal drink can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Pick the palm-sized drink can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Take the palm-sized drink can, set it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the red can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Lift the red beverage can with curved top, put it in the brown basket, and carry the brown basket afterward.", + "Lift the bright red drink container can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Lift the red and gold cylindrical can, place it inside the basket with handle, and elevate the basket with handle.", + "Take the bright red drink container can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Hold the red beverage can with curved top using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Pick the compact metal drink can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Take the gold patterned beverage can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the metallic soda can with the left arm, set it in the woven basket, and lift the woven basket using another arm.", + "Grab the red can with gold illustrations, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the compact metal drink can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the compact metal drink can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Use the left arm to take the red beverage can with curved top, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the gold-decorated aluminum can, place it in the basket with handle, pick up the basket with handle afterward.", + "Use the left arm to hold the palm-sized drink can, drop the palm-sized drink can into the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the red beverage can with curved top, place it in the basket with handle, and lift the basket with handle.", + "Drop the bright red drink container can into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Use the left arm for the red beverage can with curved top, place the red beverage can with curved top in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the smooth red soda can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Use the same arm to grab the palm-sized drink can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the compact metal drink can using the left arm, drop the compact metal drink can into the woven basket and lift the woven basket.", + "Pick up the red can with gold illustrations, set it inside the woven basket, then lift the woven basket.", + "Grab the red beverage can with curved top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the left arm to grab the red beverage can with curved top, put it into the brown basket, and lift the brown basket with another arm.", + "Use the left arm to grab the red beverage can with curved top and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Grab the red can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick the gold-decorated aluminum can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the palm-sized drink can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the bright red drink container can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Pick up the smooth red soda can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab and drop the bright red drink container can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Take the gold-decorated aluminum can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick up the gold patterned beverage can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the gold-decorated aluminum can, set it in the brown basket, and lift the brown basket upward.", + "Lift the gold-decorated aluminum can, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Lift the red beverage can with curved top with the left arm, set it in the basket made of woven wood, and lift with another arm.", + "Place the metallic can with rounded edges in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Grab the red beverage can with curved top, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Take the palm-sized drink can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Place the bright red drink container can inside the woven basket, then lift the woven basket.", + "Pick up the bright red drink container can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Use the left arm to pick the red can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the palm-sized drink can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick up the red can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Lift the bright red drink container can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Pick the metallic soda can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the gold-decorated aluminum can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Place the compact metal drink can in the basket for holding items and then lift the basket for holding items.", + "Pick the red can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the metallic can with rounded edges, set it into the basket for holding items, and raise the basket for holding items.", + "Grab the metallic soda can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Lift the red beverage can with curved top, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Lift the gold-decorated aluminum can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Lift the gold patterned beverage can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Take the compact metal drink can and put it in the woven basket, then lift the woven basket.", + "Hold the red beverage can with curved top using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the gold patterned beverage can with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Take the red can with gold illustrations, place it into the brown basket, then lift the brown basket.", + "Pick the palm-sized drink can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the metallic soda can, set it into the woven basket, then raise the woven basket.", + "Pick up the red can with gold illustrations, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the smooth red soda can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Use the left arm to take the compact metal drink can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the compact metal drink can, place it in the woven basket, pick up the woven basket afterward.", + "Use the left arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the red and gold cylindrical can, place it in the basket for holding items, and lift the basket for holding items.", + "Drop the smooth red soda can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Use the left arm for the metallic soda can, place the metallic soda can in the woven basket, and lift the woven basket.", + "Use the left arm to grab the red and gold cylindrical can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Use the same arm to grab the bright red drink container can, place in the woven basket, and then lift the woven basket.", + "Grab the metallic can with rounded edges using the left arm, drop the metallic can with rounded edges into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick up the metallic soda can, set it inside the woven basket, then lift the woven basket.", + "Grab the palm-sized drink can, drop it into the woven basket, and raise the woven basket.", + "Use the left arm to grab the compact metal drink can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Use the left arm to grab the palm-sized drink can and place in the woven basket, lift the woven basket with another arm.", + "Grab the metallic soda can with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick the bright red drink container can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick up the red beverage can with curved top using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Grab the bright red drink container can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Pick up the red can, place it into the basket with handle, then lift the basket with handle.", + "Grab and drop the red can in the basket for holding items, lift the basket for holding items.", + "Take the red and gold cylindrical can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick up the metallic soda can, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the red can, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Lift the red and gold cylindrical can, set it in the brown basket, and elevate the brown basket.", + "Lift the compact metal drink can with the left arm, set it in the basket made of woven wood, and lift with another arm.", + "Place the red can in the basket for holding items and then use another arm to lift the basket for holding items.", + "Grab the compact metal drink can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Take the red and gold cylindrical can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Place the bright red drink container can inside the basket with handle, then lift the basket with handle.", + "Pick up the metallic soda can, place it in the woven basket, and then lift the woven basket." + ], + "unseen": [ + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..596c13e26df77df50ea4ef4efb0524edfa5701b4 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for the bright red drink container can, place the bright red drink container can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the gold patterned beverage can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Place the bright red drink container can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Lift the red beverage can with curved top, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the smooth red soda can with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the metallic can with rounded edges with the left arm, set it in the handheld basket, and lift with another arm.", + "Use the left arm to grab the bright red drink container can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Pick the red and gold cylindrical can with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the left arm to grab the palm-sized drink can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Use the left arm to take the metallic soda can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the left arm to grab the red can, place it in the handheld basket, and lift the handheld basket.", + "Grab the red can with gold illustrations, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Take the compact metal drink can in the left arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick up the red and gold cylindrical can, set it inside the yellow basket, then lift the yellow basket.", + "Take the red beverage can with curved top and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the gold patterned beverage can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the metallic soda can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick up the bright red drink container can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the bright red drink container can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the metallic can with rounded edges, place it in the yellow basket, pick up the yellow basket afterward.", + "Pick the gold-decorated aluminum can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the metallic soda can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the metallic soda can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Hold the metallic soda can using the left arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to hold the bright red drink container can, drop the bright red drink container can into the basket with black handle, and lift the basket with black handle.", + "Take the metallic can with rounded edges, set it into the yellow basket, and raise the yellow basket.", + "Lift the red can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the gold patterned beverage can, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the metallic soda can with the left arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab the compact metal drink can using the left arm, drop the compact metal drink can into the basket with arched black grip and lift the basket with arched black grip.", + "Grab the palm-sized drink can with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the gold patterned beverage can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick the metallic can with rounded edges, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Lift the bright red drink container can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Take the metallic soda can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Place the red can with gold illustrations in the plastic basket and then use another arm to lift the plastic basket.", + "Pick up the metallic soda can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the gold patterned beverage can using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the palm-sized drink can using the left arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the same arm to grab the red beverage can with curved top, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the compact metal drink can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Drop the metallic soda can into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the metallic soda can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the red beverage can with curved top, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Use the left arm to pick the metallic can with rounded edges, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the left arm to grab the red and gold cylindrical can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the compact metal drink can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab and drop the red can in the basket with perforated sides, lift the basket with perforated sides.", + "Grab the compact metal drink can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Use the left arm for the palm-sized drink can, place the palm-sized drink can in the bright yellow basket, and lift the bright yellow basket.", + "Lift the compact metal drink can, drop it into the handheld basket, then carry the handheld basket.", + "Place the compact metal drink can in the basket with perforated sides and then lift the basket with perforated sides.", + "Lift the red and gold cylindrical can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the gold-decorated aluminum can with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the red can with the left arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the left arm to grab the palm-sized drink can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Pick the palm-sized drink can with the left arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the left arm to grab the metallic soda can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Use the left arm to take the metallic can with rounded edges, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the gold-decorated aluminum can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the gold patterned beverage can, drop it into the plastic basket, and raise the plastic basket.", + "Take the gold patterned beverage can in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick up the metallic soda can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the smooth red soda can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the red can, put it into the basket with black handle, and lift the basket with black handle.", + "Pick the red can with gold illustrations, set it in the plastic basket, then lift the plastic basket.", + "Grab the bright red drink container can, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick up the red beverage can with curved top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red can with gold illustrations with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the compact metal drink can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the bright red drink container can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the bright red drink container can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Place the palm-sized drink can inside the basket with black handle, then lift the basket with black handle.", + "Hold the gold patterned beverage can using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Use the left arm to hold the palm-sized drink can, drop the palm-sized drink can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the smooth red soda can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the metallic can with rounded edges, place it in the basket with black handle, and raise the basket with black handle.", + "Grab the red can, put it in the basket with black handle, then raise the basket with black handle.", + "Pick up the bright red drink container can with the left arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Grab the gold-decorated aluminum can using the left arm, drop the gold-decorated aluminum can into the yellow basket and lift the yellow basket.", + "Grab the gold-decorated aluminum can with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Lift the compact metal drink can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Pick the metallic can with rounded edges, set it in the basket with black handle, and lift the basket with black handle upward.", + "Lift the metallic soda can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Take the metallic can with rounded edges, place it into the basket with black handle, then lift the basket with black handle.", + "Place the metallic can with rounded edges in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Pick up the red can with gold illustrations, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the red can with gold illustrations using the left arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the gold patterned beverage can using the left arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the same arm to grab the metallic soda can, place in the yellow basket, and then lift the yellow basket.", + "Grab the red and gold cylindrical can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Drop the palm-sized drink can into the rectangular basket with smooth surface using the left arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the gold-decorated aluminum can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the gold-decorated aluminum can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Use the left arm to pick the gold-decorated aluminum can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm to grab the metallic can with rounded edges and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the metallic can with rounded edges, set it into the basket with black handle, then raise the basket with black handle.", + "Grab and drop the metallic can with rounded edges in the yellow basket, lift the yellow basket.", + "Grab the bright red drink container can, drop it into the handheld basket, and raise the handheld basket with the other arm." + ], + "unseen": [ + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..0307114e17c4b5a315fc5848fa0327c7d312bf36 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the metal can with red base, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the cylindrical metal can, drop the cylindrical metal can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the red and white beverage can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the cylindrical can with flat surfaces with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick up the metal can with red base, put it into the basket with black handle, and lift the basket with black handle.", + "Use the right arm to pick the drink can with smooth red finish, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the metal can with red base, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the red soda can with green accents, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the metal can with red base, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red soda can with green accents, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick the can with flat silver bottom with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Place the medium-sized soda can in the basket with black handle and then lift the basket with black handle.", + "Pick up the red can with decorative label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Take the can with flat silver bottom with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Hold the red shiny can with green label using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the red shiny can with green label with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the red drink can with white lid using the right arm, drop the red drink can with white lid into the handheld basket and lift the handheld basket.", + "Use the same arm to grab the red can with decorative label, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Lift the medium-sized soda can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Grab the medium-sized soda can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the cylindrical can with flat surfaces, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the cylindrical can with flat surfaces in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Use the right arm to grab the red soda can with green accents and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Pick the drink can with smooth red finish, set it in the handheld basket, and lift the handheld basket upward.", + "Drop the red can with decorative label into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Take the red soda can with green accents in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the cylindrical can with flat surfaces, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the metal can with red base with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the can with flat silver bottom, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the red shiny can with green label, put it in the plastic basket, and carry the plastic basket afterward.", + "Pick the red shiny can with green label with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Use the right arm for the smooth red can, place the smooth red can in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red and white beverage can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Grab the red can with decorative label, set it into the plastic basket, then raise the plastic basket.", + "Pick up the red soda can with green accents, set it inside the plastic basket, then lift the plastic basket.", + "Grab the metal can with red base, place it in the yellow basket, and lift the yellow basket upwards.", + "Take the red soda can with green accents, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the red and white beverage can with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Lift the drink can with smooth red finish, place it in the yellow basket, and raise the yellow basket.", + "Lift the red can with decorative label, drop it into the basket with black handle, then carry the basket with black handle.", + "Grab the red and white beverage can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Place the red soda can with green accents in the yellow basket and then use another arm to lift the yellow basket.", + "Lift the drink can with smooth red finish, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Take the red drink can with white lid, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to take the can with flat silver bottom, drop it in the yellow basket, and lift the yellow basket.", + "Pick the metal can with red base using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Take the smooth red can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the metal can with red base using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the cylindrical can with flat surfaces, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Lift the cylindrical can with flat surfaces, place it in the yellow basket, pick up the yellow basket afterward.", + "Use the right arm to grab the medium-sized soda can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to hold the red soda can with green accents, drop the red soda can with green accents into the handheld basket, and lift the handheld basket.", + "Place the cylindrical metal can inside the bright yellow basket, then lift the bright yellow basket.", + "Pick up the cylindrical can with flat surfaces with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Pick up the red soda can with green accents, put it into the basket with black handle, and lift the basket with black handle.", + "Use the right arm to pick the cylindrical metal can, place it inside the plastic basket, then lift the plastic basket.", + "Pick up the can with flat silver bottom, place it into the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the cylindrical metal can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick the cylindrical can with flat surfaces, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red soda can with green accents, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick the red soda can with green accents with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Place the can with flat silver bottom in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Pick up the red can with decorative label, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the red and white beverage can with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Hold the metal can with red base using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the drink can with smooth red finish with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the cylindrical can with flat surfaces using the right arm, drop the cylindrical can with flat surfaces into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Use the same arm to grab the medium-sized soda can, place in the handheld basket, and then lift the handheld basket.", + "Lift the red shiny can with green label, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the red and white beverage can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the cylindrical can with flat surfaces, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the can with flat silver bottom in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red drink can with white lid and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick the red soda can with green accents, set it in the basket with black handle, and lift the basket with black handle upward.", + "Drop the red shiny can with green label into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Take the metal can with red base in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the smooth red can, put it in the plastic basket, then raise the plastic basket.", + "Grab the metal can with red base with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red soda can with green accents, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the red shiny can with green label, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Pick the red and white beverage can with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Use the right arm for the red can with decorative label, place the red can with decorative label in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the red soda can with green accents, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the red drink can with white lid, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the metal can with red base, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red can with decorative label, place it in the yellow basket, and lift the yellow basket upwards.", + "Take the can with flat silver bottom, place it into the handheld basket, then lift the handheld basket.", + "Lift the cylindrical can with flat surfaces with the right arm, set it in the basket with black handle, and lift with another arm.", + "Lift the can with flat silver bottom, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the can with flat silver bottom, drop it into the plastic basket, then carry the plastic basket.", + "Grab the drink can with smooth red finish, drop it into the handheld basket, then use another arm for the handheld basket.", + "Place the red soda can with green accents in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Lift the red and white beverage can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the cylindrical can with flat surfaces, set it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to take the red soda can with green accents, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red can with decorative label using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Take the red soda can with green accents and put it in the basket with black handle, then lift the basket with black handle.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the red can with decorative label, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Lift the red and white beverage can, place it in the basket with black handle, pick up the basket with black handle afterward." + ], + "unseen": [ + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..8087beb2d469d1330f3a0ec85460ff0fff053867 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white patterned brown metal can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the metal can with white decorative designs, set it into the bright yellow basket, then raise the bright yellow basket.", + "Grab the small cylindrical drink container, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the yellow basket, and then lift the yellow basket.", + "Use the left arm to grab the drink can with light brown shade, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the small cylindrical drink container, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick up the metal can with printed white graphics, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Place the light brown can with smooth texture in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Lift the light brown can with smooth texture, place it in the yellow basket, and raise the yellow basket.", + "Drop the white patterned brown metal can into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Lift the smooth light brown can with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Lift the white patterned brown metal can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Hold the light brown can with smooth texture using the left arm, place it in the plastic basket, and lift the plastic basket.", + "Use the left arm for the light brown can with smooth texture, place the light brown can with smooth texture in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the light brown can with smooth texture and put it in the plastic basket, then lift the plastic basket.", + "Use the left arm to pick the brown can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the hand-sized metallic can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the small light brown cylindrical can in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the brown can with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the left arm to grab the small light brown cylindrical can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Take the small cylindrical drink container with the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the left arm to hold the light brown can with smooth texture, drop the light brown can with smooth texture into the yellow basket, and lift the yellow basket.", + "Grab the light brown can with smooth texture, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the hand-sized metallic can using the left arm, drop the hand-sized metallic can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Take the drink can with light brown shade, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the brown can with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Take the metal can with white decorative designs, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the smooth light brown can, put it in the yellow basket, and carry the yellow basket afterward.", + "Place the light brown can with smooth texture in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Lift the brown can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Place the hand-sized metallic can inside the yellow basket, then lift the yellow basket.", + "Pick the brown can, set it in the handheld basket, then lift the handheld basket.", + "Use the left arm to take the hand-sized metallic can, drop it in the yellow basket, and lift the yellow basket.", + "Use the left arm to grab the hand-sized metallic can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the small cylindrical drink container, place it in the handheld basket, pick up the handheld basket afterward.", + "Pick up the smooth light brown can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the light brown can with smooth texture, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the metal can with printed white graphics, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab the light brown can with smooth texture, drop it into the plastic basket, and raise the plastic basket.", + "Pick up the brown can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the drink can with light brown shade, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the metal can with white decorative designs, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Grab and drop the small cylindrical drink container in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the small cylindrical drink container with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the left arm to grab the small cylindrical drink container, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick up the drink can with light brown shade using the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the smooth light brown can with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the light brown can with smooth texture, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick the rounded metallic can using the left arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick up the white patterned brown metal can with the left arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Grab the metal can with printed white graphics, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the small light brown cylindrical can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the metal can with printed white graphics, place it in the yellow basket, and then lift the yellow basket.", + "Use the same arm to grab the metal can with white decorative designs, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the left arm to grab the small light brown cylindrical can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the metal can with white decorative designs, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick up the small light brown cylindrical can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Place the small cylindrical drink container in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Lift the metal can with printed white graphics, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Drop the rounded metallic can into the plastic basket using the left arm, then lift the plastic basket with another arm.", + "Lift the hand-sized metallic can with the left arm, set it in the handheld basket, and lift with another arm.", + "Lift the smooth brown can with rounded edges, set it in the basket with black handle, and elevate the basket with black handle.", + "Hold the smooth light brown can using the left arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm for the white patterned brown metal can, place the white patterned brown metal can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the metal can with white decorative designs and put it in the yellow basket, then lift the yellow basket.", + "Use the left arm to pick the small light brown cylindrical can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the metal can with printed white graphics, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the white patterned brown metal can in the left arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick the metal can with printed white graphics with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the left arm to grab the light brown can with smooth texture, place it in the bright yellow basket, and lift the bright yellow basket.", + "Take the drink can with light brown shade with the left arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the left arm to hold the brown can, drop the brown can into the basket with black handle, and lift the basket with black handle.", + "Grab the small light brown cylindrical can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the rounded metallic can using the left arm, drop the rounded metallic can into the basket with perforated sides and lift the basket with perforated sides.", + "Take the small light brown cylindrical can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the white patterned brown metal can with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Take the smooth brown can with rounded edges, place it into the yellow basket, then lift the yellow basket.", + "Lift the drink can with light brown shade, put it in the handheld basket, and carry the handheld basket afterward.", + "Place the brown can in the yellow basket and then lift the yellow basket.", + "Lift the smooth light brown can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Place the small light brown cylindrical can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the smooth light brown can, set it in the basket with black handle, then lift the basket with black handle.", + "Use the left arm to take the smooth brown can with rounded edges, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the smooth light brown can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the drink can with light brown shade, place it in the handheld basket, pick up the handheld basket afterward.", + "Pick up the small light brown cylindrical can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the small cylindrical drink container, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Grab the smooth light brown can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Grab the smooth light brown can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the drink can with light brown shade, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the rounded metallic can, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the small light brown cylindrical can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Grab and drop the brown can in the yellow basket, lift the yellow basket.", + "Grab the metal can with printed white graphics with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the left arm to grab the metal can with printed white graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick up the light brown can with smooth texture using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the small cylindrical drink container with the left arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Lift the brown can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the small light brown cylindrical can using the left arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick up the hand-sized metallic can with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle." + ], + "unseen": [ + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..c3682be26dc0e2c387f0dbdd6622f34caa01c403 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the can with red green label, put it in the plastic basket, and lift the plastic basket.", + "Pick up the colorful can with lime and orange design using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the same arm to grab the beverage can with red green graphics, place in the handheld basket, and then lift the handheld basket.", + "Grab the colorful can with lime and orange design with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the metallic drink can with pull-tab with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the red green beverage can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the drink can with bright colors with the left arm, set it in the plastic basket, and lift with another arm.", + "Use the left arm to grab the metallic drink can with pull-tab, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Lift the soda can with lime illustration, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Use the left arm to pick the drink can with bright colors, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Take the soda can with lime illustration and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the left arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the drink can with bright colors, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Drop the colorful can with lime and orange design into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm.", + "Grab the smooth cylindrical can with lime pattern, put it in the basket with black handle, then raise the basket with black handle.", + "Take the smooth cylindrical can with lime pattern, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the can with red green label with the left arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the colorful can with lime and orange design, drop it into the plastic basket, and raise the plastic basket.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Lift the green red metallic soda can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Pick up the small soda can with lime graphics with the left arm, place into the handheld basket, the other arm raises the handheld basket.", + "Use the left arm for the red green beverage can, place the red green beverage can in the yellow basket, and lift the yellow basket.", + "Place the soda can with lime illustration inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the small soda can with lime graphics, place it in the plastic basket, and then lift the plastic basket.", + "Use the left arm to grab the red green beverage can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Use the left arm to grab the beverage can with red green graphics, put it into the yellow basket, and lift the yellow basket with another arm.", + "Place the red green can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Take the green red metallic soda can with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the colorful can with lime and orange design, set it inside the handheld basket, then lift the handheld basket.", + "Take the metal can with pull-tab top, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the metallic drink can with pull-tab, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the red green beverage can using the left arm, drop the red green beverage can into the yellow basket and lift the yellow basket.", + "Pick the drink can with bright colors using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the red green beverage can, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Lift the metallic drink can with pull-tab, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the green red metallic soda can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Pick the drink can with bright colors with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the drink can with bright colors, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Lift the soda can with lime illustration, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Lift the metallic drink can with pull-tab, set it in the yellow basket, and elevate the yellow basket.", + "Pick up the drink can with bright colors, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the red green can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the handheld basket, and lift the handheld basket.", + "Grab the red green can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Place the metallic drink can with pull-tab in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Use the left arm to take the green red metallic soda can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the red green can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Lift the metallic drink can with pull-tab, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Hold the metallic drink can with pull-tab using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the smooth cylindrical can with lime pattern, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the can with red green label, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the metallic drink can with pull-tab using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the same arm to grab the red green beverage can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the beverage can with red green graphics with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the green red metallic soda can with the left arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the beverage can with red green graphics, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the red green beverage can with the left arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the left arm to grab the smooth cylindrical can with lime pattern, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Lift the beverage can with red green graphics, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Use the left arm to pick the smooth cylindrical can with lime pattern, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Take the drink can with bright colors and put it in the basket with black handle, then lift the basket with black handle.", + "Use the left arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the metallic drink can with pull-tab, set it in the handheld basket, then lift the handheld basket.", + "Drop the metallic drink can with pull-tab into the rectangular basket with smooth surface using the left arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the colorful can with lime and orange design, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Take the drink can with bright colors, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the drink can with bright colors with the left arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the drink can with bright colors, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Lift the drink can with bright colors, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the metal can with pull-tab top with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Use the left arm for the red green beverage can, place the red green beverage can in the plastic basket, and lift the plastic basket.", + "Place the colorful can with lime and orange design inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the metallic drink can with pull-tab, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the left arm to grab the can with red green label and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Use the left arm to grab the soda can with lime illustration, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Place the colorful can with lime and orange design in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Take the smooth cylindrical can with lime pattern with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the can with red green label, set it inside the plastic basket, then lift the plastic basket.", + "Take the small soda can with lime graphics, place it into the plastic basket, then lift the plastic basket.", + "Grab the metal can with pull-tab top, drop it into the handheld basket, then use another arm for the handheld basket.", + "Grab the metallic drink can with pull-tab using the left arm, drop the metallic drink can with pull-tab into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the red green can using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the metal can with pull-tab top, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Lift the beverage can with red green graphics, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the smooth cylindrical can with lime pattern, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the small soda can with lime graphics, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Lift the small soda can with lime graphics, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Lift the small soda can with lime graphics, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the smooth cylindrical can with lime pattern, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the metallic drink can with pull-tab, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Use the left arm to grab the red green can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metal can with pull-tab top, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Place the can with red green label in the basket with black handle and then lift the basket with black handle.", + "Use the left arm to take the soda can with lime illustration, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab and drop the colorful can with lime and orange design in the yellow basket, lift the yellow basket.", + "Lift the smooth cylindrical can with lime pattern, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Hold the metal can with pull-tab top using the left arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the red green can, place it in the basket with perforated sides, and then lift the basket with perforated sides." + ], + "unseen": [ + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..363227c79ed6f881674341cd10840fa3af8689ed --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red green can, set it inside the basket for holding items, then lift the basket for holding items.", + "Pick the red green can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the right arm to take the beverage can with red green graphics, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the soda can with lime illustration with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab the can with red green label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Grab the small soda can with lime graphics, place it in the brown basket, and then lift the brown basket.", + "Hold the red green can using the right arm, place it in the woven basket, and lift the woven basket.", + "Take the red green can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to grab the soda can with lime illustration, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Grab the can with red green label using the right arm, drop the can with red green label into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Use the right arm to grab the drink can with bright colors, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Take the green red metallic soda can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the metallic drink can with pull-tab using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the drink can with bright colors, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Place the red green beverage can in the basket made of woven wood and then lift the basket made of woven wood.", + "Use the right arm to grab the soda can with lime illustration and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Lift the colorful can with lime and orange design, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Use the right arm to grab the metal can with pull-tab top, place it in the basket with handle, and lift the basket with handle.", + "Grab the drink can with bright colors, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Drop the can with red green label into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Grab the smooth cylindrical can with lime pattern, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick the green red metallic soda can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the beverage can with red green graphics, place it in the light brown oval basket, and raise the light brown oval basket.", + "Pick the red green can, set it in the brown basket, and lift the brown basket upward.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the beverage can with red green graphics, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the metal can with pull-tab top, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the small soda can with lime graphics, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Lift the small soda can with lime graphics, set it in the woven basket, and elevate the woven basket.", + "Take the beverage can with red green graphics in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Use the right arm to pick the smooth cylindrical can with lime pattern, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Take the can with red green label, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the drink can with bright colors, place it in the brown basket, and raise the brown basket using the other arm.", + "Pick up the colorful can with lime and orange design, put it into the basket with loop handle, and lift the basket with loop handle.", + "Pick the small soda can with lime graphics using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the green red metallic soda can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Place the small soda can with lime graphics inside the basket with handle, then lift the basket with handle.", + "Use the same arm to grab the can with red green label, place in the woven basket, and then lift the woven basket.", + "Grab the red green beverage can with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Lift the beverage can with red green graphics, drop it into the woven basket, then carry the woven basket.", + "Pick the small soda can with lime graphics with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the smooth cylindrical can with lime pattern, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Place the colorful can with lime and orange design in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Use the right arm to hold the can with red green label, drop the can with red green label into the basket for carrying things, and lift the basket for carrying things.", + "Lift the colorful can with lime and orange design, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Pick the red green beverage can with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab and drop the metallic drink can with pull-tab in the light brown oval basket, lift the light brown oval basket.", + "Pick up the colorful can with lime and orange design, put it in the woven basket, and lift the woven basket.", + "Take the metallic drink can with pull-tab with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the beverage can with red green graphics, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick up the green red metallic soda can, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the right arm to take the can with red green label, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the green red metallic soda can with the right arm, set it in the basket with handle, and lift with another arm.", + "Grab the colorful can with lime and orange design, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Grab the can with red green label, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Hold the can with red green label using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the small soda can with lime graphics, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the red green beverage can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the light brown oval basket and lift the light brown oval basket.", + "Use the right arm to grab the drink can with bright colors, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Take the beverage can with red green graphics and put it in the woven basket, then lift the woven basket.", + "Pick up the smooth cylindrical can with lime pattern using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the green red metallic soda can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Place the beverage can with red green graphics in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Use the right arm to grab the red green can and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Lift the can with red green label, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Use the right arm to grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the small soda can with lime graphics, drop it into the woven basket, then use another arm for the woven basket.", + "Drop the can with red green label into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Grab the beverage can with red green graphics, put it in the light brown oval basket, then raise the light brown oval basket.", + "Pick the small soda can with lime graphics, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the red green beverage can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the soda can with lime illustration, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the brown basket, and lift the brown basket.", + "Pick up the beverage can with red green graphics, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the metallic drink can with pull-tab, place it into the woven basket, then lift the woven basket.", + "Grab the metal can with pull-tab top, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Lift the green red metallic soda can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Use the right arm to pick the small soda can with lime graphics, place it inside the basket for holding items, then lift the basket for holding items.", + "Take the green red metallic soda can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the small soda can with lime graphics, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick up the green red metallic soda can, put it into the brown basket, and lift the brown basket.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Pick up the soda can with lime illustration with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Place the red green beverage can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the basket for holding items, and then lift the basket for holding items.", + "Grab the drink can with bright colors with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Lift the small soda can with lime graphics, drop it into the woven basket, then carry the woven basket.", + "Pick the soda can with lime illustration with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the drink can with bright colors, put it in the brown basket, and carry the brown basket afterward.", + "Place the smooth cylindrical can with lime pattern in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the right arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the soda can with lime illustration, place it inside the basket with handle, and elevate the basket with handle.", + "Pick the soda can with lime illustration with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab and drop the drink can with bright colors in the basket with handle, lift the basket with handle.", + "Pick up the drink can with bright colors, put it in the basket with loop handle, and lift the basket with loop handle.", + "Take the can with red green label with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Grab the can with red green label, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm." + ], + "unseen": [ + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..928b90a7bb85c37f0e833b3fc61093408f5b8cb2 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red green can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Hold the metal can with pull-tab top using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Use the left arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the basket with handle, and lift the basket with handle.", + "Pick up the green red metallic soda can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the beverage can with red green graphics, place it in the woven basket, and then lift the woven basket.", + "Lift the can with red green label, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Grab the drink can with bright colors, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Lift the green red metallic soda can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the drink can with bright colors using the left arm, drop the drink can with bright colors into the basket for carrying things and lift the basket for carrying things.", + "Grab the small soda can with lime graphics with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Drop the can with red green label into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Lift the beverage can with red green graphics, place it in the woven basket, pick up the woven basket afterward.", + "Pick up the beverage can with red green graphics with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Pick up the can with red green label using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Lift the drink can with bright colors with the left arm, set it in the woven basket, and lift with another arm.", + "Use the left arm to grab the green red metallic soda can, place it in the brown basket, and lift the brown basket.", + "Lift the can with red green label, put it in the woven basket, and carry the woven basket afterward.", + "Pick the smooth cylindrical can with lime pattern with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the red green can, put it in the basket for holding items, then raise the basket for holding items.", + "Use the left arm to take the drink can with bright colors, drop it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the red green beverage can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the can with red green label, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Use the left arm to grab the metallic drink can with pull-tab and place in the woven basket, lift the woven basket with another arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the basket for holding items, then lift the basket for holding items.", + "Take the red green can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Use the left arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the red green can in the basket with handle and then lift the basket with handle.", + "Grab the soda can with lime illustration, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the red green can, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Use the left arm to grab the can with red green label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the drink can with bright colors, set it into the basket for carrying things, and raise the basket for carrying things.", + "Pick the smooth cylindrical can with lime pattern, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the can with red green label and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the red green can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the soda can with lime illustration, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the same arm to grab the beverage can with red green graphics, place in the brown basket, and then lift the brown basket.", + "Place the red green can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth cylindrical can with lime pattern, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Use the left arm to pick the beverage can with red green graphics, place it inside the basket with handle, then lift the basket with handle.", + "Pick the metallic drink can with pull-tab using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Pick up the metallic drink can with pull-tab, put it in the basket with handle, and lift the basket with handle.", + "Pick the metallic drink can with pull-tab, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Take the colorful can with lime and orange design in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Place the soda can with lime illustration in the woven basket and then use another arm to lift the woven basket.", + "Take the soda can with lime illustration, place it into the light brown oval basket, then lift the light brown oval basket.", + "Pick the drink can with bright colors with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab and drop the red green can in the basket for carrying things, lift the basket for carrying things.", + "Pick the green red metallic soda can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the brown basket, then use another arm for the brown basket.", + "Pick up the small soda can with lime graphics, set it inside the woven basket, then lift the woven basket.", + "Hold the smooth cylindrical can with lime pattern using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to hold the red green can, drop the red green can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the colorful can with lime and orange design, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the small soda can with lime graphics, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the smooth cylindrical can with lime pattern, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the small soda can with lime graphics, set it into the brown basket, then raise the brown basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the drink can with bright colors using the left arm, drop the drink can with bright colors into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Grab the metal can with pull-tab top with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Drop the smooth cylindrical can with lime pattern into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Lift the can with red green label, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Pick up the red green beverage can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Pick up the soda can with lime illustration using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Lift the drink can with bright colors with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Use the left arm to grab the red green beverage can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the smooth cylindrical can with lime pattern, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Pick the beverage can with red green graphics with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the soda can with lime illustration, put it in the light brown oval basket, then raise the light brown oval basket.", + "Use the left arm to take the smooth cylindrical can with lime pattern, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the red green beverage can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Grab the colorful can with lime and orange design, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Grab the small soda can with lime graphics, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Use the left arm to grab the soda can with lime illustration and place in the brown basket, lift the brown basket with another arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the basket for carrying things, then lift the basket for carrying things.", + "Take the red green can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Use the left arm for the metal can with pull-tab top, place the metal can with pull-tab top in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the red green can in the basket made of woven wood and then lift the basket made of woven wood.", + "Grab the smooth cylindrical can with lime pattern, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Lift the colorful can with lime and orange design, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Use the left arm to grab the red green beverage can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Take the colorful can with lime and orange design, set it into the brown basket, and raise the brown basket.", + "Pick the soda can with lime illustration, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Take the metallic drink can with pull-tab and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the drink can with bright colors, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Grab the red green can, drop it into the basket for holding items, and raise the basket for holding items.", + "Use the same arm to grab the colorful can with lime and orange design, place in the light brown oval basket, and then lift the light brown oval basket.", + "Place the small soda can with lime graphics inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the can with red green label, drop it into the woven basket, and raise the woven basket with the other arm.", + "Use the left arm to pick the soda can with lime illustration, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the smooth cylindrical can with lime pattern using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Pick up the red green can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the soda can with lime illustration, set it in the basket with handle, and lift the basket with handle upward.", + "Take the metallic drink can with pull-tab in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Place the small soda can with lime graphics in the basket for holding items and then use another arm to lift the basket for holding items.", + "Take the beverage can with red green graphics, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the beverage can with red green graphics with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab and drop the soda can with lime illustration in the basket with loop handle, lift the basket with loop handle.", + "Pick the soda can with lime illustration with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab the small soda can with lime graphics, drop it into the brown basket, then use another arm for the brown basket." + ], + "unseen": [ + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e233e09ddbd26d5ca61dc5cc8e8e3011107627 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the beverage can with printed label, drop it into the basket with handle, then carry the basket with handle.", + "Lift the smooth white can with accents, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Pick up the can with gold top lid, set it inside the basket with handle, then lift the basket with handle.", + "Place the can with rounded cylindrical shape inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the can with rounded cylindrical shape, set it into the woven basket, and raise the woven basket.", + "Use the right arm to grab the can with red-orange text, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the medium metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the beverage can with printed label, put it in the woven basket, then raise the woven basket.", + "Use the right arm to grab the medium metal can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Lift the beverage can with printed label, place it in the basket with handle, pick up the basket with handle afterward.", + "Pick up the can with sealed gold top, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the right arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Hold the cylindrical white glossy can using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm to grab the cylindrical white glossy can, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the beverage can with printed label, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the white can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the red-orange text on white can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the can with gold top lid, place it in the brown basket, and lift the brown basket upwards.", + "Grab and drop the beverage can with printed label in the light brown oval basket, lift the light brown oval basket.", + "Grab the white can with 3D RADY label, drop it into the basket with handle, and raise the basket with handle.", + "Use the right arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the light brown oval basket, and lift the light brown oval basket.", + "Pick the can with red-orange text with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the right arm to grab the medium metal can and place in the basket with handle, lift the basket with handle with another arm.", + "Pick up the can with sealed gold top, put it into the basket for holding items, and lift the basket for holding items.", + "Place the cylindrical white glossy can in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Use the same arm to grab the beverage can with printed label, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Use the right arm to pick the medium metal can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the cylindrical white glossy can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Lift the white can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to take the beverage can with printed label, drop it in the basket with handle, and lift the basket with handle.", + "Grab the medium metal can using the right arm, drop the medium metal can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick the red-orange text on white can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Take the medium metal can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the red-orange text on white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Take the can with red-orange text in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Grab the smooth white can with accents, place it in the brown basket, and raise the brown basket using the other arm.", + "Take the can with gold top lid with the right arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the medium metal can with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick the medium metal can using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Pick up the small white can with branding with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Place the cylindrical white glossy can in the basket with handle and then lift the basket with handle.", + "Lift the can with sealed gold top with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Pick up the red-orange text on white can using the right arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Pick the white can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Grab the white can with 3D RADY label, set it into the basket for holding items, then raise the basket for holding items.", + "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the white can with 3D RADY label, place it in the basket for holding items, and raise the basket for holding items.", + "Lift the can with rounded cylindrical shape, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Drop the can with gold top lid into the basket made of woven wood using the right arm, then lift the basket made of woven wood with another arm.", + "Lift the small white can with branding, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Lift the white can, place it inside the basket with handle, and elevate the basket with handle.", + "Pick up the white can with 3D RADY label, set it inside the basket for holding items, then lift the basket for holding items.", + "Place the can with red-orange text inside the woven basket, then lift the woven basket.", + "Take the beverage can with printed label, set it into the light brown oval basket, and raise the light brown oval basket.", + "Use the right arm to grab the can with gold top lid, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Take the cylindrical white glossy can and put it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the medium metal can, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Use the right arm to grab the smooth white can with accents, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Lift the medium metal can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Pick up the white can with 3D RADY label, place it in the woven basket, and then lift the woven basket.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Hold the red-orange text on white can using the right arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the basket for holding items, and lift the basket for holding items.", + "Pick up the red-orange text on white can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the small white can with branding, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the cylindrical white glossy can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the cylindrical white glossy can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Grab and drop the can with sealed gold top in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Grab the red-orange text on white can, drop it into the brown basket, and raise the brown basket.", + "Use the right arm for the red-orange text on white can, place the red-orange text on white can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the white can with 3D RADY label with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the basket with handle, lift the basket with handle with another arm.", + "Pick up the can with sealed gold top, put it into the basket for holding items, and lift the basket for holding items.", + "Place the medium metal can in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Use the same arm to grab the can with sealed gold top, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Use the right arm to pick the medium metal can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the white can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the white can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to take the cylindrical white glossy can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the white can using the right arm, drop the white can into the basket with loop handle and lift the basket with loop handle.", + "Pick the red-orange text on white can with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the beverage can with printed label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the can with rounded cylindrical shape, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Take the cylindrical white glossy can in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Take the small white can with branding with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Grab the beverage can with printed label with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the smooth white can with accents using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick up the white can with 3D RADY label with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Grab the can with sealed gold top, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Place the small white can with branding in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Lift the white can with 3D RADY label with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Pick up the red-orange text on white can using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the white can, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Grab the white can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Grab the can with gold top lid, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the can with rounded cylindrical shape, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the can with red-orange text, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Drop the medium metal can into the brown basket using the right arm, then lift the brown basket with another arm." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..41dc92ecb24cc3371fa0d4e330c23ceb1274ca9e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small cylindrical drink container using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the metal can with white decorative designs, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the light brown can with smooth texture, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the rounded metallic can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the small cylindrical drink container, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the small light brown cylindrical can, put it in the yellow basket, then raise the yellow basket.", + "Grab the metal can with white decorative designs with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm to grab the metal can with white decorative designs and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Place the brown can inside the basket with black handle, then lift the basket with black handle.", + "Grab the rounded metallic can, drop it into the plastic basket, and raise the plastic basket.", + "Place the brown can in the yellow basket and then use another arm to lift the yellow basket.", + "Lift the drink can with light brown shade, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the metal can with printed white graphics with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the drink can with light brown shade using the right arm, drop the drink can with light brown shade into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Grab the metal can with printed white graphics, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Pick up the metal can with printed white graphics, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the drink can with light brown shade and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the rounded metallic can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Take the small light brown cylindrical can, place it into the handheld basket, then lift the handheld basket.", + "Lift the white patterned brown metal can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the same arm to grab the rounded metallic can, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the metal can with printed white graphics, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Use the right arm to take the hand-sized metallic can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the white patterned brown metal can in the bright yellow basket, lift the bright yellow basket.", + "Grab the hand-sized metallic can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the hand-sized metallic can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the white patterned brown metal can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Use the right arm to grab the brown can, place it in the handheld basket, and lift the handheld basket.", + "Pick the drink can with light brown shade with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to pick the smooth light brown can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Drop the light brown can with smooth texture into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Take the brown can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Place the metal can with white decorative designs in the basket with black handle and then lift the basket with black handle.", + "Grab the brown can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Lift the metal can with white decorative designs with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Pick up the metal can with white decorative designs, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the white patterned brown metal can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the rounded metallic can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Lift the white patterned brown metal can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the brown can with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Use the right arm to grab the brown can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Hold the smooth light brown can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the metal can with printed white graphics, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick up the smooth light brown can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the rounded metallic can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the hand-sized metallic can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick the small cylindrical drink container, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick the metal can with printed white graphics with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the metal can with printed white graphics using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick up the drink can with light brown shade, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the drink can with light brown shade, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the smooth brown can with rounded edges, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the metal can with white decorative designs, drop it into the yellow basket, then use another arm for the yellow basket.", + "Grab the small cylindrical drink container, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the brown can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the white patterned brown metal can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Place the metal can with white decorative designs inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the metal can with white decorative designs, drop it into the basket with black handle, and raise the basket with black handle.", + "Place the light brown can with smooth texture in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Lift the drink can with light brown shade, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the white patterned brown metal can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the hand-sized metallic can using the right arm, drop the hand-sized metallic can into the basket with black handle and lift the basket with black handle.", + "Grab the light brown can with smooth texture, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick up the drink can with light brown shade, set it inside the yellow basket, then lift the yellow basket.", + "Take the brown can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the metal can with printed white graphics using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Take the rounded metallic can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the light brown can with smooth texture, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the same arm to grab the light brown can with smooth texture, place in the basket with black handle, and then lift the basket with black handle.", + "Grab the hand-sized metallic can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to take the small cylindrical drink container, drop it in the handheld basket, and lift the handheld basket.", + "Grab and drop the metal can with white decorative designs in the basket with perforated sides, lift the basket with perforated sides.", + "Grab the light brown can with smooth texture, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the drink can with light brown shade, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the metal can with printed white graphics in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Use the right arm to grab the hand-sized metallic can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the smooth light brown can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to pick the rounded metallic can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Drop the drink can with light brown shade into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Take the drink can with light brown shade with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Place the hand-sized metallic can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Grab the rounded metallic can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Lift the metal can with white decorative designs with the right arm, set it in the handheld basket, and lift with another arm.", + "Pick up the light brown can with smooth texture, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm for the drink can with light brown shade, place the drink can with light brown shade in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the small cylindrical drink container, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the hand-sized metallic can, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Lift the hand-sized metallic can, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Pick up the drink can with light brown shade with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Use the right arm to grab the rounded metallic can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Hold the smooth brown can with rounded edges using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the hand-sized metallic can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick up the metal can with printed white graphics, put it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to hold the metal can with printed white graphics, drop the metal can with printed white graphics into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the light brown can with smooth texture, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the smooth light brown can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Pick the white patterned brown metal can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick the metal can with printed white graphics with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm." + ], + "unseen": [ + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..a0749e47604c8125b5727535a2d49202cb78976e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the beverage can with printed label using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Use the left arm to grab the beverage can with printed label and place in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the beverage can with printed label, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the cylindrical white glossy can, put it into the handheld basket, and lift the handheld basket.", + "Pick up the white can with 3D RADY label, put it in the plastic basket, and lift the plastic basket.", + "Use the same arm to grab the can with gold top lid, place in the plastic basket, and then lift the plastic basket.", + "Take the can with sealed gold top, set it into the plastic basket, and raise the plastic basket.", + "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the can with red-orange text, put it in the yellow basket, then raise the yellow basket.", + "Pick up the can with sealed gold top, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the small white can with branding, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the smooth white can with accents with the left arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Lift the white can, set it in the plastic basket, and elevate the plastic basket.", + "Grab the white can with 3D RADY label, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the medium metal can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the can with sealed gold top with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the red-orange text on white can with the left arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab the can with gold top lid, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Grab and drop the cylindrical white glossy can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the white can with 3D RADY label, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Use the left arm to grab the red-orange text on white can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Use the left arm to take the can with red-orange text, drop it in the yellow basket, and lift the yellow basket.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the can with gold top lid, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the beverage can with printed label, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Place the white can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Take the red-orange text on white can with the left arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the yellow basket and lift the yellow basket.", + "Grab the beverage can with printed label, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the small white can with branding in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Use the left arm to grab the smooth white can with accents, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Lift the can with sealed gold top with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Use the left arm to pick the medium metal can, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the small white can with branding, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Pick up the white can with 3D RADY label, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the cylindrical white glossy can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the can with rounded cylindrical shape, set it in the yellow basket, and lift the yellow basket upward.", + "Lift the white can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Pick the smooth white can with accents with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the can with gold top lid, place it into the handheld basket, then lift the handheld basket.", + "Use the left arm to grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the can with rounded cylindrical shape with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the red-orange text on white can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the smooth white can with accents using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Place the beverage can with printed label in the handheld basket and then lift the handheld basket.", + "Take the beverage can with printed label and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the white can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the red-orange text on white can using the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Lift the beverage can with printed label, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Drop the can with red-orange text into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Hold the beverage can with printed label using the left arm, place it in the yellow basket, and lift the yellow basket.", + "Use the left arm to grab the can with red-orange text and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the small white can with branding, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the medium metal can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the cylindrical white glossy can, put it in the yellow basket, and lift the yellow basket.", + "Use the same arm to grab the white can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the beverage can with printed label, set it into the plastic basket, and raise the plastic basket.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the white can, put it in the yellow basket, then raise the yellow basket.", + "Pick up the can with rounded cylindrical shape, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the can with red-orange text, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the small white can with branding with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the can with sealed gold top, set it in the yellow basket, and elevate the yellow basket.", + "Grab the can with red-orange text, place it in the yellow basket, and then lift the yellow basket.", + "Pick up the can with rounded cylindrical shape, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the white can with 3D RADY label with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the can with rounded cylindrical shape with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the white can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab and drop the can with sealed gold top in the handheld basket, lift the handheld basket.", + "Grab the white can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the left arm to grab the white can with 3D RADY label, put it into the handheld basket, and lift the handheld basket with another arm.", + "Use the left arm to take the medium metal can, drop it in the basket with black handle, and lift the basket with black handle.", + "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the handheld basket, and lift the handheld basket.", + "Lift the can with red-orange text, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the can with sealed gold top, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Place the smooth white can with accents in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Take the smooth white can with accents with the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the white can using the left arm, drop the white can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Grab the can with gold top lid, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the can with rounded cylindrical shape in the left arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Use the left arm to grab the can with red-orange text, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Lift the red-orange text on white can with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Use the left arm to pick the can with sealed gold top, place it inside the yellow basket, then lift the yellow basket.", + "Grab the can with gold top lid, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick up the white can with 3D RADY label, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the can with red-orange text, set it in the plastic basket, then lift the plastic basket.", + "Pick the can with rounded cylindrical shape, set it in the yellow basket, and lift the yellow basket upward.", + "Lift the white can with 3D RADY label, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick the smooth white can with accents with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the can with rounded cylindrical shape, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the left arm to grab the smooth white can with accents, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the white can with 3D RADY label with the left arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Place the small white can with branding inside the basket with black handle, then lift the basket with black handle.", + "Pick the can with rounded cylindrical shape using the left arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the white can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Take the can with red-orange text and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the red-orange text on white can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the white can with 3D RADY label, drop it into the basket with black handle, then carry the basket with black handle.", + "Drop the small white can with branding into the handheld basket using the left arm, then lift the handheld basket with another arm." + ], + "unseen": [ + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..04b5fd3f8f034ad1880ce9b7f6d805b85ff0ad1e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium metal can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the cylindrical white glossy can, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the smooth white can with accents, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Grab the can with red-orange text with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm to grab the can with red-orange text, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with rounded cylindrical shape, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Take the smooth white can with accents, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the can with gold top lid, set it inside the plastic basket, then lift the plastic basket.", + "Grab the red-orange text on white can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Lift the can with red-orange text with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Grab the white can, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Grab and drop the small white can with branding in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Lift the can with rounded cylindrical shape, set it in the handheld basket, and elevate the handheld basket.", + "Pick up the smooth white can with accents, put it in the yellow basket, and lift the yellow basket.", + "Grab the medium metal can using the right arm, drop the medium metal can into the yellow basket and lift the yellow basket.", + "Lift the cylindrical white glossy can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the smooth white can with accents, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the cylindrical white glossy can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Take the can with sealed gold top in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the white can with 3D RADY label, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the cylindrical white glossy can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the smooth white can with accents, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the red-orange text on white can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Take the cylindrical white glossy can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm for the medium metal can, place the medium metal can in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the red-orange text on white can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Place the can with sealed gold top inside the yellow basket, then lift the yellow basket.", + "Pick up the smooth white can with accents using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the red-orange text on white can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to take the can with sealed gold top, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the beverage can with printed label, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Drop the cylindrical white glossy can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Place the smooth white can with accents in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the right arm to grab the white can and place in the plastic basket, lift the plastic basket with another arm.", + "Place the white can in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick the can with rounded cylindrical shape using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Take the can with gold top lid, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the can with gold top lid with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the yellow basket, and lift the yellow basket.", + "Lift the can with gold top lid, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the can with rounded cylindrical shape, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Take the medium metal can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick the can with gold top lid with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Pick up the medium metal can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the same arm to grab the red-orange text on white can, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Pick up the can with sealed gold top, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Hold the can with sealed gold top using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the red-orange text on white can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Lift the cylindrical white glossy can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the small white can with branding, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the can with sealed gold top, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the medium metal can with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the white can, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with sealed gold top, set it into the plastic basket, then raise the plastic basket.", + "Take the can with gold top lid, place it into the plastic basket, then lift the plastic basket.", + "Pick up the small white can with branding, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the white can with 3D RADY label, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Lift the smooth white can with accents with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the can with gold top lid, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab and drop the small white can with branding in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Lift the small white can with branding, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the can with red-orange text, put it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with rounded cylindrical shape using the right arm, drop the can with rounded cylindrical shape into the rectangular yellow basket and lift the rectangular yellow basket.", + "Lift the red-orange text on white can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Lift the white can with 3D RADY label, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the can with red-orange text, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the can with gold top lid in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Pick up the medium metal can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the white can with 3D RADY label with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the red-orange text on white can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the beverage can with printed label, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Take the can with red-orange text and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the smooth white can with accents, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Place the can with red-orange text inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the can with rounded cylindrical shape using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the can with sealed gold top, place it in the yellow basket, and then lift the yellow basket.", + "Use the right arm to take the cylindrical white glossy can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the cylindrical white glossy can, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Use the right arm to pick the smooth white can with accents, place it inside the yellow basket, then lift the yellow basket.", + "Drop the can with sealed gold top into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Place the small white can with branding in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the right arm to grab the small white can with branding and place in the plastic basket, lift the plastic basket with another arm.", + "Place the can with sealed gold top in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Pick the red-orange text on white can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the can with sealed gold top, set it into the plastic basket, and raise the plastic basket.", + "Pick the white can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the handheld basket, and lift the handheld basket.", + "Lift the white can, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab the can with rounded cylindrical shape, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Take the cylindrical white glossy can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick the white can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Pick up the red-orange text on white can with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Use the same arm to grab the can with red-orange text, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the smooth white can with accents, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick up the can with gold top lid, place it into the bright yellow basket, then lift the bright yellow basket.", + "Hold the medium metal can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the can with rounded cylindrical shape, drop it into the handheld basket, and raise the handheld basket." + ], + "unseen": [ + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..1faa259fe88bbfe82681418b63a4c76d57e43d43 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the red soda can with green accents and place in the brown basket, lift the brown basket with another arm.", + "Pick the drink can with smooth red finish, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the smooth red can, put it in the brown basket, then raise the brown basket.", + "Place the red drink can with white lid in the basket for holding items and then lift the basket for holding items.", + "Lift the can with flat silver bottom, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Grab the red shiny can with green label, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Pick up the red drink can with white lid, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the red can with decorative label, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Pick the cylindrical can with flat surfaces with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Use the same arm to grab the cylindrical metal can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Take the red and white beverage can, set it into the basket with loop handle, and raise the basket with loop handle.", + "Grab the smooth red can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Place the red and white beverage can in the basket with handle and then use another arm to lift the basket with handle.", + "Take the drink can with smooth red finish in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Pick up the red and white beverage can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Take the red soda can with green accents with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Use the left arm to pick the red drink can with white lid, place it inside the woven basket, then lift the woven basket.", + "Use the left arm to grab the medium-sized soda can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Pick the drink can with smooth red finish using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the smooth red can with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Hold the red can with decorative label using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the red soda can with green accents using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the cylindrical metal can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the medium-sized soda can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Take the can with flat silver bottom and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the can with flat silver bottom, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab and drop the smooth red can in the basket made of woven wood, lift the basket made of woven wood.", + "Use the left arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the cylindrical can with flat surfaces, set it into the basket with loop handle, then raise the basket with loop handle.", + "Place the smooth red can inside the basket with handle, then lift the basket with handle.", + "Grab the cylindrical metal can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Lift the can with flat silver bottom, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Pick up the cylindrical can with flat surfaces, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the medium-sized soda can using the left arm, drop the medium-sized soda can into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Lift the smooth red can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Pick up the drink can with smooth red finish, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Drop the medium-sized soda can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Use the left arm to hold the red drink can with white lid, drop the red drink can with white lid into the woven basket, and lift the woven basket.", + "Lift the red shiny can with green label, place it in the woven basket, and raise the woven basket.", + "Use the left arm to grab the smooth red can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Pick up the drink can with smooth red finish, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the red drink can with white lid, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Pick the cylindrical can with flat surfaces with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the red and white beverage can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the red drink can with white lid, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Use the left arm to take the smooth red can, drop it in the basket with handle, and lift the basket with handle.", + "Take the red shiny can with green label, place it into the brown basket, then lift the brown basket.", + "Pick the red shiny can with green label with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Use the left arm to grab the red drink can with white lid, place it in the woven basket, and lift the woven basket.", + "Lift the medium-sized soda can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Use the left arm to grab the red drink can with white lid and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the red and white beverage can, set it in the brown basket, then lift the brown basket.", + "Grab the can with flat silver bottom, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Place the red drink can with white lid in the brown basket and then lift the brown basket.", + "Lift the smooth red can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Grab the smooth red can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Pick up the can with flat silver bottom, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick the metal can with red base, set it in the brown basket, and lift the brown basket upward.", + "Pick the medium-sized soda can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the same arm to grab the red drink can with white lid, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Take the drink can with smooth red finish, set it into the basket for holding items, and raise the basket for holding items.", + "Grab the can with flat silver bottom, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Place the metal can with red base in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Take the red soda can with green accents in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Pick up the metal can with red base with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Take the red can with decorative label with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the left arm to pick the cylindrical metal can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the metal can with red base, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Pick the red soda can with green accents using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Lift the red drink can with white lid with the left arm, set it in the woven basket, and lift with another arm.", + "Hold the smooth red can using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the smooth red can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the cylindrical metal can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the cylindrical metal can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Take the cylindrical can with flat surfaces and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the red shiny can with green label, place it into the basket for holding items, then lift the basket for holding items.", + "Grab and drop the smooth red can in the woven basket, lift the woven basket.", + "Use the left arm for the red shiny can with green label, place the red shiny can with green label in the brown basket, and lift the brown basket.", + "Grab the metal can with red base, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Place the red can with decorative label inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the medium-sized soda can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Lift the cylindrical can with flat surfaces, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Pick up the cylindrical metal can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the cylindrical metal can using the left arm, drop the cylindrical metal can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Lift the drink can with smooth red finish, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Pick up the red drink can with white lid, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the red can with decorative label into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Use the left arm to hold the medium-sized soda can, drop the medium-sized soda can into the light brown oval basket, and lift the light brown oval basket.", + "Lift the cylindrical metal can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the left arm to grab the medium-sized soda can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Pick up the can with flat silver bottom, set it inside the basket for holding items, then lift the basket for holding items.", + "Lift the red drink can with white lid, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick the cylindrical metal can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the red can with decorative label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the red soda can with green accents, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the left arm to take the medium-sized soda can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the drink can with smooth red finish, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the metal can with red base with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the left arm to grab the cylindrical can with flat surfaces, place it in the woven basket, and lift the woven basket.", + "Lift the smooth red can, place it inside the woven basket, and elevate the woven basket." + ], + "unseen": [ + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..3b515aabc0812a1f311667f429f36b2cd106e904 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beverage can with red green graphics, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Grab the soda can with lime illustration using the left arm, drop the soda can with lime illustration into the light brown oval basket and lift the light brown oval basket.", + "Pick up the small soda can with lime graphics, place it in the brown basket, and then lift the brown basket.", + "Grab the green red metallic soda can, drop it into the brown basket, and raise the brown basket.", + "Pick the red green beverage can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Use the left arm to hold the colorful can with lime and orange design, drop the colorful can with lime and orange design into the light brown oval basket, and lift the light brown oval basket.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the beverage can with red green graphics, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Place the can with red green label inside the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to grab the red green beverage can, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Grab the can with red green label, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Lift the can with red green label, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick the small soda can with lime graphics with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Use the left arm to grab the can with red green label, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Use the left arm to grab the green red metallic soda can, place it in the basket with handle, and lift the basket with handle.", + "Take the drink can with bright colors with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick the metallic drink can with pull-tab, set it in the basket with handle, and lift the basket with handle upward.", + "Grab the colorful can with lime and orange design, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Take the metal can with pull-tab top, set it into the light brown oval basket, and raise the light brown oval basket.", + "Lift the soda can with lime illustration with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Take the red green beverage can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Pick the can with red green label, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the metal can with pull-tab top, place it into the woven basket, then lift the woven basket.", + "Lift the beverage can with red green graphics, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Use the left arm to grab the red green can and place in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the red green can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the green red metallic soda can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Place the green red metallic soda can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Lift the metallic drink can with pull-tab, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the green red metallic soda can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick up the colorful can with lime and orange design, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the can with red green label with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Use the left arm to pick the small soda can with lime graphics, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the green red metallic soda can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the metal can with pull-tab top, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to take the red green beverage can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the beverage can with red green graphics and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the green red metallic soda can with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Take the soda can with lime illustration, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Drop the beverage can with red green graphics into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Pick the red green can with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Pick up the red green can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Grab the green red metallic soda can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Hold the metal can with pull-tab top using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm for the red green beverage can, place the red green beverage can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the green red metallic soda can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the smooth cylindrical can with lime pattern, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the metal can with pull-tab top, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Grab and drop the colorful can with lime and orange design in the brown basket, lift the brown basket.", + "Place the metallic drink can with pull-tab in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Grab the red green can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Grab the green red metallic soda can using the left arm, drop the green red metallic soda can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Pick up the metallic drink can with pull-tab, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the colorful can with lime and orange design, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Pick the soda can with lime illustration with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Use the left arm to hold the can with red green label, drop the can with red green label into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the same arm to grab the soda can with lime illustration, place in the basket for holding items, and then lift the basket for holding items.", + "Lift the metallic drink can with pull-tab, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Place the smooth cylindrical can with lime pattern inside the basket with handle, then lift the basket with handle.", + "Use the left arm to grab the green red metallic soda can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Grab the can with red green label, put it in the woven basket, then raise the woven basket.", + "Lift the drink can with bright colors, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Pick the red green beverage can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to grab the soda can with lime illustration, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Use the left arm to grab the small soda can with lime graphics, place it in the light brown oval basket, and lift the light brown oval basket.", + "Take the red green beverage can with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the can with red green label, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Grab the can with red green label, drop it into the basket with handle, then use another arm for the basket with handle.", + "Take the small soda can with lime graphics, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Lift the metallic drink can with pull-tab with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Take the metal can with pull-tab top in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Pick the can with red green label, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the metallic drink can with pull-tab, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the red green can, drop it into the woven basket, then carry the woven basket.", + "Use the left arm to grab the smooth cylindrical can with lime pattern and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Grab the red green beverage can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the red green can, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Place the drink can with bright colors in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Lift the small soda can with lime graphics, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Grab the can with red green label, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick up the metal can with pull-tab top, put it into the basket for carrying things, and lift the basket for carrying things.", + "Pick up the drink can with bright colors with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Use the left arm to pick the metallic drink can with pull-tab, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the can with red green label using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick up the soda can with lime illustration, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to take the metallic drink can with pull-tab, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the green red metallic soda can and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the red green can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the colorful can with lime and orange design, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Drop the metallic drink can with pull-tab into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Pick the colorful can with lime and orange design with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the red green can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the metallic drink can with pull-tab, set it into the basket for holding items, then raise the basket for holding items.", + "Hold the can with red green label using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm for the soda can with lime illustration, place the soda can with lime illustration in the woven basket, and lift the woven basket.", + "Pick up the green red metallic soda can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the beverage can with red green graphics, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the red green can, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Grab and drop the can with red green label in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Place the small soda can with lime graphics in the basket for holding items and then use another arm to lift the basket for holding items." + ], + "unseen": [ + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6b4d2b0479619edcc4dc139985f2e4a5e0ff24 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic soda can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to pick the palm-sized drink can, place it inside the handheld basket, then lift the handheld basket.", + "Grab the palm-sized drink can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Pick up the metallic can with rounded edges with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Lift the gold patterned beverage can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the right arm to grab the smooth red soda can and place in the yellow basket, lift the yellow basket with another arm.", + "Drop the metallic can with rounded edges into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Pick the red can with gold illustrations, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Use the right arm to take the bright red drink container can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the metallic can with rounded edges, put it in the handheld basket, and carry the handheld basket afterward.", + "Lift the metallic can with rounded edges with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the gold patterned beverage can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick up the metallic can with rounded edges, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red and gold cylindrical can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Grab the red can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick the gold-decorated aluminum can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Place the red and gold cylindrical can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab and drop the compact metal drink can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Lift the red beverage can with curved top, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick up the smooth red soda can, put it in the handheld basket, and lift the handheld basket.", + "Take the red and gold cylindrical can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the gold-decorated aluminum can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the red can with gold illustrations, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Take the bright red drink container can, set it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm for the gold patterned beverage can, place the gold patterned beverage can in the handheld basket, and lift the handheld basket.", + "Grab the red can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Hold the compact metal drink can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the metallic soda can inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Place the metallic can with rounded edges in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the red can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Lift the red can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the gold patterned beverage can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the red can with gold illustrations, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Use the same arm to grab the red beverage can with curved top, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to grab the compact metal drink can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Grab the gold-decorated aluminum can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the compact metal drink can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick the red and gold cylindrical can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Pick up the red beverage can with curved top, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the red and gold cylindrical can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red beverage can with curved top, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the red can with gold illustrations, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the red beverage can with curved top using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Take the red and gold cylindrical can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Grab the red and gold cylindrical can, place it in the yellow basket, and then lift the yellow basket.", + "Pick the bright red drink container can with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Lift the gold-decorated aluminum can, place it inside the handheld basket, and elevate the handheld basket.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the bright yellow basket, and lift the bright yellow basket.", + "Take the bright red drink container can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the gold-decorated aluminum can and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the bright red drink container can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick up the palm-sized drink can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Lift the red can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the gold patterned beverage can and place in the plastic basket, lift the plastic basket with another arm.", + "Drop the metallic soda can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Pick the gold patterned beverage can, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Use the right arm to take the metallic soda can, drop it in the yellow basket, and lift the yellow basket.", + "Lift the red can with gold illustrations, put it in the plastic basket, and carry the plastic basket afterward.", + "Lift the compact metal drink can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Lift the gold patterned beverage can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Pick up the red can with gold illustrations, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the red can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Grab the red can with gold illustrations, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick the metallic can with rounded edges with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Place the bright red drink container can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Grab and drop the gold-decorated aluminum can in the handheld basket, lift the handheld basket.", + "Lift the gold-decorated aluminum can, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the bright red drink container can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the red can with gold illustrations, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the metallic soda can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the bright red drink container can, put it in the plastic basket, then raise the plastic basket.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the rectangular yellow basket and lift the rectangular yellow basket.", + "Take the metallic can with rounded edges, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the yellow basket, and lift the yellow basket.", + "Grab the gold patterned beverage can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Hold the red beverage can with curved top using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Place the smooth red soda can inside the handheld basket, then lift the handheld basket.", + "Place the bright red drink container can in the basket with black handle and then lift the basket with black handle.", + "Grab the metallic can with rounded edges, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Lift the metallic can with rounded edges, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the metallic can with rounded edges, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the metallic can with rounded edges, set it into the yellow basket, then raise the yellow basket.", + "Use the same arm to grab the compact metal drink can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the gold patterned beverage can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Grab the red and gold cylindrical can with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the red can with gold illustrations with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the red beverage can with curved top, set it in the plastic basket, then lift the plastic basket.", + "Pick up the compact metal drink can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the metallic soda can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red can with gold illustrations, set it inside the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the red beverage can with curved top, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red can with gold illustrations using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Take the red and gold cylindrical can in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Grab the red can, place it in the handheld basket, and then lift the handheld basket.", + "Pick the metallic soda can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Lift the gold-decorated aluminum can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Use the right arm to hold the red can, drop the red can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the smooth red soda can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm." + ], + "unseen": [ + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..13f7e75099f1f887447e699f52945880eed3e187 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the smooth red soda can in the light brown oval basket and then lift the light brown oval basket.", + "Grab the gold patterned beverage can, put it in the basket for holding items, then raise the basket for holding items.", + "Lift the smooth red soda can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Pick the red can with gold illustrations, set it in the basket for holding items, then lift the basket for holding items.", + "Pick the compact metal drink can using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Take the red and gold cylindrical can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the metallic soda can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Lift the compact metal drink can with the right arm, set it in the brown basket, and lift with another arm.", + "Pick up the bright red drink container can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the red and gold cylindrical can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the bright red drink container can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick up the gold patterned beverage can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the bright red drink container can, place it in the basket with handle, pick up the basket with handle afterward.", + "Use the right arm for the red beverage can with curved top, place the red beverage can with curved top in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to grab the red can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Pick the bright red drink container can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Lift the bright red drink container can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Grab the gold-decorated aluminum can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the same arm to grab the red beverage can with curved top, place in the brown basket, and then lift the brown basket.", + "Pick the smooth red soda can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Lift the metallic soda can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Grab the palm-sized drink can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Pick up the metallic can with rounded edges with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Use the right arm to grab the metallic can with rounded edges and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Hold the gold-decorated aluminum can using the right arm, place it in the basket with handle, and lift the basket with handle.", + "Grab the metallic soda can, drop it into the basket for holding items, and raise the basket for holding items.", + "Take the compact metal drink can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to grab the compact metal drink can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick up the red can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the right arm to pick the red can with gold illustrations, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Take the gold patterned beverage can in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Use the right arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the brown basket, and lift the brown basket.", + "Pick the metallic can with rounded edges with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the red can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the bright red drink container can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the bright red drink container can using the right arm, drop the bright red drink container can into the light brown oval basket and lift the light brown oval basket.", + "Grab and drop the red can in the basket made of woven wood, lift the basket made of woven wood.", + "Drop the metallic soda can into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick the smooth red soda can with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Place the palm-sized drink can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red can with gold illustrations with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the bright red drink container can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Lift the red beverage can with curved top, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the palm-sized drink can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Take the bright red drink container can, set it into the basket for holding items, and raise the basket for holding items.", + "Pick up the bright red drink container can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the right arm to grab the gold-decorated aluminum can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the palm-sized drink can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Grab the metallic soda can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Use the right arm to take the metallic can with rounded edges, drop it in the basket with handle, and lift the basket with handle.", + "Place the metallic soda can in the basket for carrying things and then lift the basket for carrying things.", + "Grab the red can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Lift the smooth red soda can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick the compact metal drink can, set it in the basket for holding items, then lift the basket for holding items.", + "Pick the red can with gold illustrations using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Take the metallic soda can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the palm-sized drink can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Lift the palm-sized drink can with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Pick up the red can, place it in the woven basket, and then lift the woven basket.", + "Pick up the metallic can with rounded edges, put it in the woven basket, and lift the woven basket.", + "Place the red beverage can with curved top in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Pick up the palm-sized drink can, put it into the basket with loop handle, and lift the basket with loop handle.", + "Lift the metallic can with rounded edges, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to grab the smooth red soda can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Pick the gold-decorated aluminum can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the smooth red soda can, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Grab the red can with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the same arm to grab the metallic can with rounded edges, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the smooth red soda can, set it in the basket with handle, and lift the basket with handle upward.", + "Lift the bright red drink container can, drop it into the woven basket, then carry the woven basket.", + "Grab the red can with gold illustrations, place it in the woven basket, and raise the woven basket using the other arm.", + "Pick up the red and gold cylindrical can with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Use the right arm to grab the metallic soda can and place in the woven basket, lift the woven basket with another arm.", + "Hold the red can with gold illustrations using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the red can with gold illustrations, drop it into the basket with handle, and raise the basket with handle.", + "Take the gold patterned beverage can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the right arm to grab the palm-sized drink can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Pick up the red and gold cylindrical can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to pick the gold patterned beverage can, place it inside the woven basket, then lift the woven basket.", + "Take the metallic can with rounded edges in the right arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Use the right arm to hold the red can with gold illustrations, drop the red can with gold illustrations into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the gold patterned beverage can with the right arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the red can with gold illustrations, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the red beverage can with curved top, set it inside the basket with handle, then lift the basket with handle.", + "Grab the red beverage can with curved top using the right arm, drop the red beverage can with curved top into the brown basket and lift the brown basket.", + "Grab and drop the compact metal drink can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Drop the palm-sized drink can into the smooth ribbed light brown basket using the right arm, then lift the smooth ribbed light brown basket with another arm.", + "Pick the metallic soda can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Place the red and gold cylindrical can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the red can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the palm-sized drink can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Lift the bright red drink container can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the smooth red soda can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Take the red can with gold illustrations, set it into the basket for holding items, and raise the basket for holding items.", + "Pick up the red can with gold illustrations using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm to grab the red beverage can with curved top, place it in the basket with handle, and lift the basket with handle.", + "Grab the gold-decorated aluminum can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Grab the red can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Use the right arm to take the metallic can with rounded edges, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body." + ], + "unseen": [ + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..0021eabd1ad52db4efbcc0bf780b0212c87730b5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metal can with pull-tab top, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Take the soda can with lime illustration in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Grab the small soda can with lime graphics, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Place the metal can with pull-tab top in the plastic basket and then lift the plastic basket.", + "Pick the can with red green label, set it in the yellow basket, and lift the yellow basket upward.", + "Take the drink can with bright colors with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the beverage can with red green graphics and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the drink can with bright colors in the yellow basket and then use another arm to lift the yellow basket.", + "Lift the soda can with lime illustration, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick up the metal can with pull-tab top with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Pick up the red green beverage can, place it into the yellow basket, then lift the yellow basket.", + "Lift the smooth cylindrical can with lime pattern, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Lift the metal can with pull-tab top, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm for the small soda can with lime graphics, place the small soda can with lime graphics in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the metal can with pull-tab top, put it into the basket with black handle, and lift the basket with black handle.", + "Use the same arm to grab the red green can, place in the plastic basket, and then lift the plastic basket.", + "Take the colorful can with lime and orange design and put it in the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the red green beverage can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the green red metallic soda can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the drink can with bright colors with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Use the right arm to grab the beverage can with red green graphics, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Grab the green red metallic soda can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Take the smooth cylindrical can with lime pattern, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the green red metallic soda can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the soda can with lime illustration, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red green beverage can using the right arm, drop the red green beverage can into the plastic basket and lift the plastic basket.", + "Grab the small soda can with lime graphics, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Lift the colorful can with lime and orange design, place it in the yellow basket, and raise the yellow basket.", + "Use the right arm to grab the soda can with lime illustration, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab the drink can with bright colors, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Lift the metal can with pull-tab top, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab the small soda can with lime graphics, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick the red green can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab and drop the soda can with lime illustration in the rectangular yellow basket, lift the rectangular yellow basket.", + "Pick up the drink can with bright colors, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Grab the red green beverage can, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Place the soda can with lime illustration inside the plastic basket, then lift the plastic basket.", + "Pick up the red green beverage can, put it in the basket with black handle, and lift the basket with black handle.", + "Lift the can with red green label, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Grab the metal can with pull-tab top, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Drop the smooth cylindrical can with lime pattern into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Grab the green red metallic soda can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick the beverage can with red green graphics using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the can with red green label with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Take the can with red green label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to pick the can with red green label, place it inside the plastic basket, then lift the plastic basket.", + "Take the metallic drink can with pull-tab in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the colorful can with lime and orange design, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Place the smooth cylindrical can with lime pattern in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick the soda can with lime illustration, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Take the metallic drink can with pull-tab with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the soda can with lime illustration and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Place the red green can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Lift the small soda can with lime graphics, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the small soda can with lime graphics with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick up the can with red green label, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the small soda can with lime graphics, place it inside the yellow basket, and elevate the yellow basket.", + "Lift the colorful can with lime and orange design, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Use the right arm for the red green can, place the red green can in the plastic basket, and lift the plastic basket.", + "Pick up the can with red green label, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the same arm to grab the smooth cylindrical can with lime pattern, place in the basket with black handle, and then lift the basket with black handle.", + "Take the red green can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the can with red green label, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to hold the metal can with pull-tab top, drop the metal can with pull-tab top into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the colorful can with lime and orange design with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the metal can with pull-tab top with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the soda can with lime illustration with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to grab the colorful can with lime and orange design, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the beverage can with red green graphics, put it in the plastic basket, then raise the plastic basket.", + "Take the can with red green label, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the red green beverage can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the colorful can with lime and orange design using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the small soda can with lime graphics, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the drink can with bright colors using the right arm, drop the drink can with bright colors into the bright yellow basket and lift the bright yellow basket.", + "Grab the drink can with bright colors, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Lift the metal can with pull-tab top, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to grab the beverage can with red green graphics, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Grab the can with red green label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the soda can with lime illustration, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab the metal can with pull-tab top, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick the red green beverage can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab and drop the red green beverage can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Pick up the beverage can with red green graphics, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the soda can with lime illustration, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Place the drink can with bright colors inside the handheld basket, then lift the handheld basket.", + "Pick up the can with red green label, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the smooth cylindrical can with lime pattern, place it in the plastic basket, pick up the plastic basket afterward.", + "Grab the metallic drink can with pull-tab, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the right arm to take the drink can with bright colors, drop it in the basket with black handle, and lift the basket with black handle.", + "Drop the green red metallic soda can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the red green can, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick the green red metallic soda can using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick the can with red green label with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa0eecdc9f998aaa1dce37f8e616d66fa3c11a8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth brown can with rounded edges, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Lift the smooth light brown can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the smooth brown can with rounded edges, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the same arm to grab the drink can with light brown shade, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick the metal can with printed white graphics with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Take the smooth light brown can with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Grab the metal can with printed white graphics, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Use the right arm to grab the metal can with printed white graphics and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Drop the light brown can with smooth texture into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Pick up the drink can with light brown shade using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the brown can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Pick the white patterned brown metal can with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Pick up the light brown can with smooth texture with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Pick up the drink can with light brown shade, place it into the basket with handle, then lift the basket with handle.", + "Hold the metal can with white decorative designs using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the brown can, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the smooth light brown can using the right arm, drop the smooth light brown can into the basket made of woven wood and lift the basket made of woven wood.", + "Lift the drink can with light brown shade with the right arm, set it in the woven basket, and lift with another arm.", + "Take the rounded metallic can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the drink can with light brown shade with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick the hand-sized metallic can, set it in the brown basket, then lift the brown basket.", + "Take the small cylindrical drink container and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the metal can with white decorative designs, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the small light brown cylindrical can in the right arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Pick the rounded metallic can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the metal can with white decorative designs, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Lift the hand-sized metallic can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab and drop the brown can in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Take the smooth brown can with rounded edges, place it into the basket with handle, then lift the basket with handle.", + "Use the right arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the smooth light brown can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Pick up the metal can with white decorative designs, put it in the brown basket, and lift the brown basket.", + "Grab the drink can with light brown shade, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Place the white patterned brown metal can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Grab the smooth light brown can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Pick up the metal can with white decorative designs, place it in the brown basket, and then lift the brown basket.", + "Grab the hand-sized metallic can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the smooth light brown can, put it into the basket with handle, and lift the basket with handle.", + "Grab the light brown can with smooth texture, set it into the woven basket, then raise the woven basket.", + "Use the right arm to pick the brown can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to take the smooth light brown can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the metal can with white decorative designs, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Use the right arm to grab the metal can with white decorative designs, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick the metal can with printed white graphics using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the brown can, drop it into the basket for holding items, and raise the basket for holding items.", + "Place the smooth brown can with rounded edges inside the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm for the small light brown cylindrical can, place the small light brown cylindrical can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the hand-sized metallic can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Grab the smooth brown can with rounded edges, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Use the right arm to grab the metal can with printed white graphics, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Grab the metal can with printed white graphics, place it in the woven basket, and lift the woven basket upwards.", + "Lift the light brown can with smooth texture, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the smooth light brown can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the same arm to grab the brown can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the metal can with printed white graphics with the right arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the light brown can with smooth texture with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the small light brown cylindrical can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Use the right arm to grab the metal can with white decorative designs and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Drop the rounded metallic can into the oval-shaped basket with woven body using the right arm, then lift the oval-shaped basket with woven body with another arm.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the metal can with white decorative designs, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Pick the hand-sized metallic can with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick up the hand-sized metallic can with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Pick up the light brown can with smooth texture, place it into the basket with handle, then lift the basket with handle.", + "Hold the small cylindrical drink container using the right arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the metal can with printed white graphics, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the metal can with white decorative designs using the right arm, drop the metal can with white decorative designs into the basket made of woven wood and lift the basket made of woven wood.", + "Lift the small cylindrical drink container with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Take the small cylindrical drink container, set it into the light brown oval basket, and raise the light brown oval basket.", + "Grab the hand-sized metallic can with the right arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick the rounded metallic can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Take the rounded metallic can and put it in the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the smooth light brown can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Take the light brown can with smooth texture in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Pick the white patterned brown metal can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the drink can with light brown shade, place it inside the basket for holding items, and elevate the basket for holding items.", + "Lift the brown can, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab and drop the smooth brown can with rounded edges in the basket with loop handle, lift the basket with loop handle.", + "Take the rounded metallic can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to hold the hand-sized metallic can, drop the hand-sized metallic can into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the metal can with white decorative designs, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Pick up the rounded metallic can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the white patterned brown metal can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Place the drink can with light brown shade in the woven basket and then lift the woven basket.", + "Grab the light brown can with smooth texture, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick up the rounded metallic can, place it in the basket with handle, and then lift the basket with handle.", + "Grab the light brown can with smooth texture, put it in the basket with loop handle, then raise the basket with loop handle.", + "Pick up the drink can with light brown shade, put it into the light brown oval basket, and lift the light brown oval basket.", + "Grab the rounded metallic can, set it into the basket for holding items, then raise the basket for holding items.", + "Use the right arm to pick the small cylindrical drink container, place it inside the woven basket, then lift the woven basket.", + "Use the right arm to take the small cylindrical drink container, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the smooth brown can with rounded edges, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Use the right arm to grab the smooth light brown can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Pick the metal can with printed white graphics using the right arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Grab the hand-sized metallic can, drop it into the basket with handle, and raise the basket with handle.", + "Place the small light brown cylindrical can inside the woven basket, then lift the woven basket.", + "Use the right arm for the drink can with light brown shade, place the drink can with light brown shade in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the brown can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Grab the white patterned brown metal can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Use the right arm to grab the white patterned brown metal can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm." + ], + "unseen": [ + "Use the right arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..26102ff3f21a7875d7434410eebff8400d08f86d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the can with sealed gold top in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Lift the smooth white can with accents, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Drop the red-orange text on white can into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Lift the can with sealed gold top with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Grab the medium metal can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the beverage can with printed label, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Grab the cylindrical white glossy can, put it in the handheld basket, then raise the handheld basket.", + "Hold the white can with 3D RADY label using the left arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the smooth white can with accents, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the white can with 3D RADY label in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab and drop the can with gold top lid in the bright yellow basket, lift the bright yellow basket.", + "Take the white can with 3D RADY label, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the red-orange text on white can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the left arm to grab the beverage can with printed label, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Lift the medium metal can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the smooth white can with accents using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the white can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick the white can with 3D RADY label with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the can with red-orange text, place it into the yellow basket, then lift the yellow basket.", + "Use the left arm to take the cylindrical white glossy can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the beverage can with printed label, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Use the left arm to grab the white can with 3D RADY label, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the red-orange text on white can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Lift the can with rounded cylindrical shape, place it in the basket with black handle, and raise the basket with black handle.", + "Pick up the white can, set it inside the plastic basket, then lift the plastic basket.", + "Grab the small white can with branding, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the smooth white can with accents, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the white can with 3D RADY label, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the red-orange text on white can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the can with red-orange text with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the white can with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Pick the smooth white can with accents, set it in the yellow basket, then lift the yellow basket.", + "Lift the white can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Place the can with sealed gold top inside the plastic basket, then lift the plastic basket.", + "Pick up the can with sealed gold top, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the red-orange text on white can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Pick the can with rounded cylindrical shape, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the left arm to grab the white can with 3D RADY label and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the can with rounded cylindrical shape, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Take the can with red-orange text and put it in the plastic basket, then lift the plastic basket.", + "Lift the medium metal can, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick the small white can with branding using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the yellow basket and lift the yellow basket.", + "Use the left arm for the medium metal can, place the medium metal can in the plastic basket, and lift the plastic basket.", + "Take the beverage can with printed label with the left arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Take the can with gold top lid, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to pick the cylindrical white glossy can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the white can with 3D RADY label with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the can with sealed gold top in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Lift the cylindrical white glossy can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Drop the can with sealed gold top into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Lift the medium metal can with the left arm, set it in the yellow basket, and lift with another arm.", + "Grab the smooth white can with accents, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the beverage can with printed label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Grab the can with sealed gold top, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Hold the can with red-orange text using the left arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the white can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the white can with 3D RADY label in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Grab and drop the can with red-orange text in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Take the white can with 3D RADY label, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the can with sealed gold top with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm to grab the beverage can with printed label, put it into the plastic basket, and lift the plastic basket with another arm.", + "Lift the smooth white can with accents, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the beverage can with printed label using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Place the can with sealed gold top in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Pick the medium metal can with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the beverage can with printed label, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the left arm to take the cylindrical white glossy can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the cylindrical white glossy can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Use the left arm to grab the beverage can with printed label, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the can with gold top lid, place it inside the plastic basket, and elevate the plastic basket.", + "Lift the can with sealed gold top, place it in the yellow basket, and raise the yellow basket.", + "Pick up the can with sealed gold top, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the white can with 3D RADY label, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the medium metal can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the same arm to grab the can with gold top lid, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the can with gold top lid, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the smooth white can with accents with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the can with gold top lid with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Pick the small white can with branding, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the white can with 3D RADY label, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Place the white can with 3D RADY label inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the red-orange text on white can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the can with sealed gold top, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Use the left arm to grab the medium metal can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick the beverage can with printed label, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Use the left arm to grab the medium metal can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the beverage can with printed label, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the beverage can with printed label and put it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the can with rounded cylindrical shape, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Pick the red-orange text on white can using the left arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the small white can with branding using the left arm, drop the small white can with branding into the rectangular yellow basket and lift the rectangular yellow basket.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the cylindrical white glossy can with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Take the can with rounded cylindrical shape, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm to pick the cylindrical white glossy can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the small white can with branding with the left arm, put it into the basket with black handle, and lift the basket with black handle with the other arm." + ], + "unseen": [ + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..46752d667a48273419618fc5663e3d72cf4886b8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the can with red green label, place it in the basket for carrying things, and raise the basket for carrying things.", + "Grab the red green can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the soda can with lime illustration using the left arm, drop the soda can with lime illustration into the basket made of woven wood and lift the basket made of woven wood.", + "Pick up the drink can with bright colors, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Use the left arm to take the beverage can with red green graphics, drop it in the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the soda can with lime illustration and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick the metal can with pull-tab top with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Place the metal can with pull-tab top in the brown basket and then use another arm to lift the brown basket.", + "Take the green red metallic soda can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick up the can with red green label using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the metal can with pull-tab top, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Pick up the can with red green label, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab and drop the small soda can with lime graphics in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Pick the can with red green label, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Use the left arm to pick the smooth cylindrical can with lime pattern, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Place the red green can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Place the metal can with pull-tab top in the basket with loop handle and then lift the basket with loop handle.", + "Grab the beverage can with red green graphics, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Pick up the metallic drink can with pull-tab, put it into the basket with loop handle, and lift the basket with loop handle.", + "Grab the red green can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Use the left arm to grab the metal can with pull-tab top, put it into the brown basket, and lift the brown basket with another arm.", + "Pick the can with red green label with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the green red metallic soda can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Hold the small soda can with lime graphics using the left arm, place it in the brown basket, and lift the brown basket.", + "Take the colorful can with lime and orange design, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth cylindrical can with lime pattern, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Lift the soda can with lime illustration, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Grab the smooth cylindrical can with lime pattern, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Grab the drink can with bright colors, drop it into the woven basket, and raise the woven basket.", + "Lift the can with red green label, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the woven basket, another arm lifts the woven basket.", + "Pick the drink can with bright colors, set it in the basket with handle, then lift the basket with handle.", + "Pick up the beverage can with red green graphics, place it into the basket with handle, then lift the basket with handle.", + "Lift the can with red green label with the left arm, set it in the basket with handle, and lift with another arm.", + "Pick up the red green beverage can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Use the left arm for the red green can, place the red green can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the red green beverage can, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Pick up the small soda can with lime graphics, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the same arm to grab the red green beverage can, place in the brown basket, and then lift the brown basket.", + "Use the left arm to grab the small soda can with lime graphics, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Lift the red green beverage can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Grab the smooth cylindrical can with lime pattern with the left arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Grab the soda can with lime illustration, drop it into the brown basket, and raise the brown basket with the other arm.", + "Drop the smooth cylindrical can with lime pattern into the woven basket using the left arm, then lift the woven basket with another arm.", + "Lift the red green beverage can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Pick the drink can with bright colors using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Take the can with red green label with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the red green beverage can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Grab the metal can with pull-tab top, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the smooth cylindrical can with lime pattern using the left arm, drop the smooth cylindrical can with lime pattern into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick up the drink can with bright colors, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Use the left arm to take the small soda can with lime graphics, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the red green can, place it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the green red metallic soda can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Pick the colorful can with lime and orange design with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Place the small soda can with lime graphics in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Take the red green beverage can, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the colorful can with lime and orange design using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick the red green beverage can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Lift the small soda can with lime graphics, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Pick up the red green beverage can, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab and drop the red green can in the basket made of woven wood, lift the basket made of woven wood.", + "Pick the small soda can with lime graphics, set it in the brown basket, and lift the brown basket upward.", + "Use the left arm to pick the soda can with lime illustration, place it inside the woven basket, then lift the woven basket.", + "Place the small soda can with lime graphics inside the basket for holding items, then lift the basket for holding items.", + "Place the colorful can with lime and orange design in the basket with handle and then lift the basket with handle.", + "Grab the red green can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Pick up the colorful can with lime and orange design, put it into the basket for carrying things, and lift the basket for carrying things.", + "Grab the red green can, put it in the brown basket, then raise the brown basket.", + "Use the left arm to grab the colorful can with lime and orange design, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the red green can with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Take the green red metallic soda can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Hold the metallic drink can with pull-tab using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the metal can with pull-tab top, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the drink can with bright colors, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Lift the metallic drink can with pull-tab, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Grab the smooth cylindrical can with lime pattern, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Grab the can with red green label, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Take the colorful can with lime and orange design in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Pick the colorful can with lime and orange design, set it in the light brown oval basket, then lift the light brown oval basket.", + "Pick up the colorful can with lime and orange design, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the soda can with lime illustration with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Pick up the colorful can with lime and orange design with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Use the left arm for the red green can, place the red green can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the small soda can with lime graphics, place it in the brown basket, and raise the brown basket using the other arm.", + "Pick up the colorful can with lime and orange design, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the same arm to grab the small soda can with lime graphics, place in the woven basket, and then lift the woven basket.", + "Use the left arm to grab the metallic drink can with pull-tab, place it into the woven basket, and lift the woven basket using the other arm.", + "Lift the can with red green label, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the green red metallic soda can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the small soda can with lime graphics, drop it into the brown basket, and raise the brown basket with the other arm.", + "Drop the red green beverage can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Lift the can with red green label, set it in the basket with handle, and elevate the basket with handle.", + "Pick the soda can with lime illustration using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the metallic drink can with pull-tab with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef4a95237ee5742b9627d86eb7d67d440cc6d20 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the smooth red can with silver bottom into the woven basket using the left arm, then lift the woven basket with another arm.", + "Pick the metallic red beverage can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the left arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the basket with handle, and lift the basket with handle.", + "Grab the red can with smooth metallic texture, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick up the red can with smooth metallic texture, put it in the basket with handle, and lift the basket with handle.", + "Place the red cylindrical can with silver top in the basket with handle and then use another arm to lift the basket with handle.", + "Use the left arm to grab the red can with smooth metallic texture, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Grab the Coca-Cola can, drop it into the brown basket, then use another arm for the brown basket.", + "Use the left arm to take the red cylindrical can with silver top, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the left arm to grab the Coca-Cola can and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Lift the small aluminum red drink can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Hold the red can with smooth metallic texture using the left arm, place it in the brown basket, and lift the brown basket.", + "Pick up the red can with white Coca-Cola logo, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the smooth red can with silver bottom, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to grab the hand-sized red can for drinks, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Take the smooth red can with silver bottom with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the hand-sized red can for drinks, put it in the woven basket, then raise the woven basket.", + "Grab the red can with smooth metallic texture with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick up the Coca-Cola can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the small aluminum red drink can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Pick the rounded red Coca-Cola soda container with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Pick the red can with white lettering using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the Coca-Cola soda can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the left arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the brown basket, and lift the brown basket.", + "Take the hand-sized red can for drinks, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Place the small aluminum red drink can inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the Coca-Cola can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Lift the smooth red can with silver bottom, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Lift the Coca-Cola can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Take the metallic red beverage can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the cylindrical red drink can with logo, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Place the small aluminum red drink can in the woven basket and then lift the woven basket.", + "Pick up the cylindrical red drink can with logo, put it into the basket for carrying things, and lift the basket for carrying things.", + "Lift the metallic red beverage can, put it in the woven basket, and carry the woven basket afterward.", + "Lift the rounded red Coca-Cola soda container, drop it into the woven basket, then carry the woven basket.", + "Grab the Coca-Cola can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Grab and drop the red can with smooth metallic texture in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Use the same arm to grab the metallic red beverage can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the Coca-Cola soda can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the hand-sized red can for drinks, set it in the woven basket, and lift the woven basket upward.", + "Pick the Coca-Cola soda can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Pick up the Coca-Cola soda can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Grab the Coca-Cola can using the left arm, drop the Coca-Cola can into the light brown oval basket and lift the light brown oval basket.", + "Lift the small aluminum red drink can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Grab the metallic red beverage can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the cylindrical red drink can with logo, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the Coca-Cola can, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Take the metallic red beverage can, place it into the brown basket, then lift the brown basket.", + "Take the smooth red can with silver bottom in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Use the left arm to pick the Coca-Cola can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Drop the rounded red Coca-Cola soda container into the brown basket using the left arm, then lift the brown basket with another arm.", + "Pick the metallic red beverage can with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the left arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the woven basket, and lift the woven basket.", + "Grab the red can with smooth metallic texture, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick up the red cylindrical can with silver top, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the rounded red Coca-Cola soda container in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Use the left arm to grab the red can with white lettering, put it into the basket with handle, and lift the basket with handle with another arm.", + "Grab the hand-sized red can for drinks, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Use the left arm to take the Coca-Cola can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the Coca-Cola soda can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the rounded red Coca-Cola soda container with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Hold the hand-sized red can for drinks using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the small aluminum red drink can, set it inside the basket with handle, then lift the basket with handle.", + "Use the left arm to grab the cylindrical red drink can with logo, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the red can with smooth metallic texture, place it into the woven basket, and lift the woven basket using the other arm.", + "Take the hand-sized red can for drinks with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Grab the small aluminum red drink can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Grab the Coca-Cola soda can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick up the red can with white Coca-Cola logo, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the red cylindrical can with silver top, place it inside the basket with handle, and elevate the basket with handle.", + "Pick the red can with white Coca-Cola logo with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick the small aluminum red drink can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick up the metallic red beverage can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to hold the Coca-Cola soda can, drop the Coca-Cola soda can into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the Coca-Cola can, set it into the basket with handle, and raise the basket with handle.", + "Place the Coca-Cola soda can inside the light brown oval basket, then lift the light brown oval basket.", + "Pick the Coca-Cola soda can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the metallic red beverage can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Lift the Coca-Cola soda can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Take the red cylindrical can with silver top and put it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the smooth red can with silver bottom, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Place the cylindrical red drink can with logo in the basket for holding items and then lift the basket for holding items.", + "Pick up the small aluminum red drink can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Lift the smooth red can with silver bottom, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Lift the red can with white Coca-Cola logo, drop it into the basket for holding items, then carry the basket for holding items.", + "Grab the rounded red Coca-Cola soda container, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Grab and drop the smooth red can with silver bottom in the basket made of woven wood, lift the basket made of woven wood.", + "Use the same arm to grab the small aluminum red drink can, place in the woven basket, and then lift the woven basket.", + "Grab the Coca-Cola soda can, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the smooth red can with silver bottom, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Pick the smooth red can with silver bottom, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the metallic red beverage can with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Grab the Coca-Cola can using the left arm, drop the Coca-Cola can into the brown basket and lift the brown basket.", + "Lift the cylindrical red drink can with logo, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Grab the small aluminum red drink can, place it in the brown basket, and then lift the brown basket.", + "Pick up the Coca-Cola can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the red cylindrical can with silver top, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Take the cylindrical red drink can with logo, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the rounded red Coca-Cola soda container in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Use the left arm to pick the red cylindrical can with silver top, place it inside the basket for holding items, then lift the basket for holding items." + ], + "unseen": [ + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..61ff1880781ef1fe67f74c1c3186ad9519c8d581 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the can with sealed gold top, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Grab the white can with 3D RADY label, place it in the yellow basket, and lift the yellow basket upwards.", + "Lift the smooth white can with accents with the left arm, set it in the plastic basket, and lift with another arm.", + "Lift the white can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Place the can with gold top lid in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the white can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Pick up the smooth white can with accents with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the white can with 3D RADY label, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the medium metal can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Use the left arm to pick the can with sealed gold top, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the left arm for the white can, place the white can in the plastic basket, and lift the plastic basket.", + "Pick up the small white can with branding, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the cylindrical white glossy can in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick the white can using the left arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the same arm to grab the smooth white can with accents, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the can with red-orange text using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the can with sealed gold top inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to grab the white can with 3D RADY label and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the cylindrical white glossy can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Lift the can with sealed gold top, place it in the plastic basket, and raise the plastic basket.", + "Grab the can with gold top lid, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Take the cylindrical white glossy can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the smooth white can with accents and put it in the yellow basket, then lift the yellow basket.", + "Lift the can with sealed gold top, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Grab the cylindrical white glossy can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the smooth white can with accents, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the can with rounded cylindrical shape, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick up the white can, put it into the handheld basket, and lift the handheld basket.", + "Pick the medium metal can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the left arm to grab the beverage can with printed label, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Grab the white can with 3D RADY label, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Use the left arm to grab the medium metal can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Grab and drop the cylindrical white glossy can in the handheld basket, lift the handheld basket.", + "Use the left arm to take the can with gold top lid, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the can with red-orange text in the basket with arched black grip and then lift the basket with arched black grip.", + "Drop the smooth white can with accents into the plastic basket using the left arm, then lift the plastic basket with another arm.", + "Grab the can with red-orange text, put it in the handheld basket, then raise the handheld basket.", + "Pick up the white can, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the can with sealed gold top, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Take the beverage can with printed label with the left arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the left arm to grab the medium metal can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Hold the small white can with branding using the left arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the smooth white can with accents with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the small white can with branding, set it inside the basket with black handle, then lift the basket with black handle.", + "Lift the can with sealed gold top, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the medium metal can, set it in the yellow basket, and lift the yellow basket upward.", + "Grab the small white can with branding with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the red-orange text on white can with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the white can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Grab the can with red-orange text, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Lift the can with rounded cylindrical shape with the left arm, set it in the yellow basket, and lift with another arm.", + "Lift the white can, set it in the handheld basket, and elevate the handheld basket.", + "Place the smooth white can with accents in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the white can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the can with rounded cylindrical shape with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the cylindrical white glossy can, place it in the handheld basket, and then lift the handheld basket.", + "Grab the medium metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with arched black grip and lift the basket with arched black grip.", + "Use the left arm to pick the small white can with branding, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the left arm for the can with gold top lid, place the can with gold top lid in the handheld basket, and lift the handheld basket.", + "Pick up the beverage can with printed label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Take the medium metal can in the left arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick the can with sealed gold top using the left arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the same arm to grab the small white can with branding, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the red-orange text on white can using the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Place the smooth white can with accents inside the yellow basket, then lift the yellow basket.", + "Use the left arm to grab the can with gold top lid and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the white can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Lift the can with gold top lid, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the can with gold top lid, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the can with red-orange text, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the can with rounded cylindrical shape and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the white can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the red-orange text on white can, set it into the yellow basket, then raise the yellow basket.", + "Pick up the can with gold top lid, place it into the plastic basket, then lift the plastic basket.", + "Lift the can with sealed gold top, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Pick up the can with gold top lid, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the can with red-orange text, set it in the plastic basket, then lift the plastic basket.", + "Use the left arm to grab the cylindrical white glossy can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Grab the white can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Use the left arm to grab the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Grab and drop the beverage can with printed label in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the left arm to take the red-orange text on white can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the white can with 3D RADY label in the basket with arched black grip and then lift the basket with arched black grip.", + "Drop the can with gold top lid into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the beverage can with printed label, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the smooth white can with accents, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the small white can with branding, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the smooth white can with accents with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the left arm to grab the can with red-orange text, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Hold the white can using the left arm, place it in the handheld basket, and lift the handheld basket.", + "Pick the red-orange text on white can with the left arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick up the small white can with branding, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the smooth white can with accents, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick the can with rounded cylindrical shape, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Grab the small white can with branding with the left arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick the red-orange text on white can with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm." + ], + "unseen": [ + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..0215675713af71c4cd33d4cb76baca17c46174cf --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red beverage can with curved top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the red beverage can with curved top, put it into the light brown oval basket, and lift the light brown oval basket.", + "Grab the red can, drop it into the basket with handle, and raise the basket with handle.", + "Pick the red beverage can with curved top using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to hold the bright red drink container can, drop the bright red drink container can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the red beverage can with curved top, place it into the light brown oval basket, then lift the light brown oval basket.", + "Lift the metallic soda can, drop it into the brown basket, then carry the brown basket.", + "Pick the red beverage can with curved top with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Take the palm-sized drink can in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Pick up the red can using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to take the metallic soda can, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the compact metal drink can with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Lift the red can with gold illustrations, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the red beverage can with curved top, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Grab the bright red drink container can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Pick up the red beverage can with curved top, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the metallic can with rounded edges, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick the smooth red soda can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the red beverage can with curved top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the compact metal drink can using the right arm, drop the compact metal drink can into the basket for holding items and lift the basket for holding items.", + "Use the right arm for the metallic can with rounded edges, place the metallic can with rounded edges in the light brown oval basket, and lift the light brown oval basket.", + "Take the metallic soda can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Take the smooth red soda can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to grab the red can with gold illustrations, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the red can with gold illustrations with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Drop the metallic soda can into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Pick up the red can with gold illustrations, set it inside the brown basket, then lift the brown basket.", + "Grab the metallic soda can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick the smooth red soda can, set it in the basket for holding items, then lift the basket for holding items.", + "Place the red can with gold illustrations in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Use the right arm to pick the metallic soda can, place it inside the basket with handle, then lift the basket with handle.", + "Use the right arm to grab the metallic soda can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick up the gold-decorated aluminum can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Grab and drop the gold patterned beverage can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Grab the compact metal drink can, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Lift the compact metal drink can, place it inside the brown basket, and elevate the brown basket.", + "Pick the metallic soda can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Lift the palm-sized drink can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Use the same arm to grab the gold-decorated aluminum can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Hold the compact metal drink can using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the red and gold cylindrical can, set it in the brown basket, and elevate the brown basket.", + "Grab the metallic soda can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the red can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Place the palm-sized drink can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the red and gold cylindrical can with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Place the compact metal drink can in the basket made of woven wood and then lift the basket made of woven wood.", + "Use the right arm to grab the palm-sized drink can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Lift the red and gold cylindrical can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Take the red can with gold illustrations and put it in the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to grab the palm-sized drink can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Pick up the palm-sized drink can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick up the metallic soda can, put it into the brown basket, and lift the brown basket.", + "Grab the bright red drink container can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the palm-sized drink can using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the light brown oval basket, and lift the light brown oval basket.", + "Pick up the gold-decorated aluminum can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Lift the bright red drink container can, drop it into the woven basket, then carry the woven basket.", + "Pick the smooth red soda can with the right arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Take the metallic soda can in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Pick up the gold patterned beverage can using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the right arm to take the red can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the palm-sized drink can with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the bright red drink container can, place it in the woven basket, and raise the woven basket.", + "Grab the bright red drink container can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Grab the compact metal drink can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick up the palm-sized drink can, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the smooth red soda can, set it into the light brown oval basket, then raise the light brown oval basket.", + "Pick the compact metal drink can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the gold-decorated aluminum can, place it in the woven basket, and then lift the woven basket.", + "Grab the gold-decorated aluminum can using the right arm, drop the gold-decorated aluminum can into the basket for carrying things and lift the basket for carrying things.", + "Use the right arm for the bright red drink container can, place the bright red drink container can in the basket for holding items, and lift the basket for holding items.", + "Take the red can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red can with gold illustrations, set it into the brown basket, and raise the brown basket.", + "Use the right arm to grab the red beverage can with curved top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the metallic can with rounded edges with the right arm, set it in the woven basket, and lift with another arm.", + "Drop the gold-decorated aluminum can into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick up the red can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the gold-decorated aluminum can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick the gold patterned beverage can, set it in the basket for holding items, then lift the basket for holding items.", + "Place the compact metal drink can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Use the right arm to pick the smooth red soda can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the metallic soda can and place in the woven basket, lift the woven basket with another arm.", + "Pick up the red can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Grab and drop the bright red drink container can in the light brown oval basket, lift the light brown oval basket.", + "Grab the red and gold cylindrical can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Lift the red and gold cylindrical can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Pick the compact metal drink can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Lift the smooth red soda can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the same arm to grab the compact metal drink can, place in the woven basket, and then lift the woven basket.", + "Hold the gold patterned beverage can using the right arm, place it in the woven basket, and lift the woven basket.", + "Lift the gold-decorated aluminum can, set it in the woven basket, and elevate the woven basket.", + "Grab the metallic can with rounded edges with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the compact metal drink can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Place the metallic can with rounded edges inside the light brown oval basket, then lift the light brown oval basket.", + "Take the gold patterned beverage can with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Place the red and gold cylindrical can in the basket with loop handle and then lift the basket with loop handle.", + "Use the right arm to grab the red beverage can with curved top, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Lift the palm-sized drink can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Take the bright red drink container can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to grab the compact metal drink can, put it into the woven basket, and lift the woven basket with another arm." + ], + "unseen": [ + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..bddf7d551d058c974d01736e5d05c36fd24e8071 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth red can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to hold the cylindrical metal can, drop the cylindrical metal can into the basket with handle, and lift the basket with handle.", + "Grab the red can with decorative label, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Use the left arm to pick the red drink can with white lid, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the red shiny can with green label, put it in the light brown oval basket, then raise the light brown oval basket.", + "Lift the red and white beverage can with the left arm, set it in the woven basket, and lift with another arm.", + "Pick the metal can with red base using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the left arm to grab the red drink can with white lid and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the smooth red can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab and drop the metal can with red base in the basket for carrying things, lift the basket for carrying things.", + "Grab the red can with decorative label, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Pick up the red and white beverage can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Use the left arm to grab the smooth red can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Use the left arm to grab the red shiny can with green label, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the metal can with red base, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the red can with decorative label, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Take the cylindrical metal can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Lift the cylindrical metal can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the same arm to grab the smooth red can, place in the brown basket, and then lift the brown basket.", + "Lift the cylindrical metal can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the red shiny can with green label, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Pick the medium-sized soda can with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the cylindrical can with flat surfaces with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Take the red shiny can with green label and put it in the basket for holding items, then lift the basket for holding items.", + "Grab the red soda can with green accents, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Drop the drink can with smooth red finish into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Take the cylindrical can with flat surfaces in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Lift the medium-sized soda can, put it in the woven basket, and carry the woven basket afterward.", + "Grab the can with flat silver bottom with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the drink can with smooth red finish, drop it into the brown basket, and raise the brown basket.", + "Lift the red can with decorative label, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the can with flat silver bottom, set it in the basket for holding items, then lift the basket for holding items.", + "Use the left arm for the red drink can with white lid, place the red drink can with white lid in the basket for holding items, and lift the basket for holding items.", + "Grab the metal can with red base using the left arm, drop the metal can with red base into the brown basket and lift the brown basket.", + "Place the medium-sized soda can in the brown basket and then use another arm to lift the brown basket.", + "Place the medium-sized soda can in the basket with handle and then lift the basket with handle.", + "Use the left arm to grab the metal can with red base, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the red soda can with green accents, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Lift the cylindrical metal can, place it in the brown basket, pick up the brown basket afterward.", + "Grab the red soda can with green accents, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Pick up the metal can with red base, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Use the left arm to take the cylindrical can with flat surfaces, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Take the red drink can with white lid, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the metal can with red base using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Grab the red drink can with white lid, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Hold the drink can with smooth red finish using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Pick the medium-sized soda can with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Pick up the cylindrical metal can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Place the red drink can with white lid inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the drink can with smooth red finish, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Take the red and white beverage can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the left arm to hold the medium-sized soda can, drop the medium-sized soda can into the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the smooth red can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Use the left arm to pick the drink can with smooth red finish, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the metal can with red base, put it in the woven basket, then raise the woven basket.", + "Lift the smooth red can with the left arm, set it in the basket with handle, and lift with another arm.", + "Pick the drink can with smooth red finish using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the left arm to grab the can with flat silver bottom and place in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the red drink can with white lid, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab and drop the cylindrical can with flat surfaces in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Grab the can with flat silver bottom, drop it into the woven basket, then use another arm for the woven basket.", + "Pick up the drink can with smooth red finish, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the medium-sized soda can, place it into the woven basket, and lift the woven basket using the other arm.", + "Use the left arm to grab the red can with decorative label, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick up the red and white beverage can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the cylindrical metal can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the red can with decorative label, place it into the basket with loop handle, then lift the basket with loop handle.", + "Lift the medium-sized soda can, place it in the basket for holding items, and raise the basket for holding items.", + "Use the same arm to grab the metal can with red base, place in the basket for carrying things, and then lift the basket for carrying things.", + "Lift the smooth red can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the red soda can with green accents, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Pick the drink can with smooth red finish with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Pick the cylindrical can with flat surfaces with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the medium-sized soda can and put it in the woven basket, then lift the woven basket.", + "Grab the red shiny can with green label, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Drop the red and white beverage can into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Take the red can with decorative label in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Lift the red and white beverage can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Grab the red drink can with white lid with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with handle, and raise the basket with handle.", + "Lift the red soda can with green accents, place it inside the woven basket, and elevate the woven basket.", + "Pick the red soda can with green accents, set it in the basket for carrying things, then lift the basket for carrying things.", + "Use the left arm for the red shiny can with green label, place the red shiny can with green label in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the red drink can with white lid using the left arm, drop the red drink can with white lid into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Place the can with flat silver bottom in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Place the metal can with red base in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Use the left arm to grab the red shiny can with green label, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the smooth red can, set it in the brown basket, and lift the brown basket upward.", + "Lift the red soda can with green accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Grab the red and white beverage can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Pick up the red shiny can with green label, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to take the red and white beverage can, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the drink can with smooth red finish, set it into the basket for holding items, and raise the basket for holding items.", + "Pick up the medium-sized soda can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the smooth red can, place it in the woven basket, and raise the woven basket using the other arm.", + "Hold the red drink can with white lid using the left arm, place it in the woven basket, and lift the woven basket.", + "Pick the red can with decorative label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the drink can with smooth red finish with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Place the red and white beverage can inside the brown basket, then lift the brown basket.", + "Pick up the cylindrical can with flat surfaces, set it inside the light brown oval basket, then lift the light brown oval basket." + ], + "unseen": [ + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..66c0751582bfa97e9605491a3a3688afe2bf1ff1 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth brown can with rounded edges, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the small light brown cylindrical can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Pick the rounded metallic can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to grab the hand-sized metallic can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the light brown can with smooth texture, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the light brown can with smooth texture using the right arm, drop the light brown can with smooth texture into the yellow basket and lift the yellow basket.", + "Pick up the brown can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metal can with printed white graphics with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the smooth brown can with rounded edges, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the metal can with printed white graphics, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Place the hand-sized metallic can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick the brown can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the hand-sized metallic can, put it in the basket with black handle, then raise the basket with black handle.", + "Drop the drink can with light brown shade into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Grab and drop the smooth brown can with rounded edges in the rectangular yellow basket, lift the rectangular yellow basket.", + "Grab the small light brown cylindrical can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick the white patterned brown metal can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Use the right arm to take the light brown can with smooth texture, drop it in the yellow basket, and lift the yellow basket.", + "Grab the small cylindrical drink container, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Use the right arm to hold the smooth light brown can, drop the smooth light brown can into the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the smooth light brown can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the small cylindrical drink container with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the brown can with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the small cylindrical drink container, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Hold the hand-sized metallic can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the light brown can with smooth texture, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Pick up the light brown can with smooth texture using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the smooth light brown can, place it into the plastic basket, then lift the plastic basket.", + "Lift the light brown can with smooth texture, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the small light brown cylindrical can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the hand-sized metallic can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the small light brown cylindrical can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the small cylindrical drink container with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Grab the smooth brown can with rounded edges, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm for the white patterned brown metal can, place the white patterned brown metal can in the yellow basket, and lift the yellow basket.", + "Grab the drink can with light brown shade, place it in the yellow basket, and then lift the yellow basket.", + "Lift the hand-sized metallic can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Lift the metal can with white decorative designs, place it in the handheld basket, pick up the handheld basket afterward.", + "Grab the white patterned brown metal can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Pick the metal can with white decorative designs using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the smooth brown can with rounded edges with the right arm, set it in the handheld basket, and lift with another arm.", + "Pick up the smooth light brown can, set it inside the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the hand-sized metallic can, place in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the brown can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Take the rounded metallic can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Place the brown can inside the handheld basket, then lift the handheld basket.", + "Use the right arm to pick the small cylindrical drink container, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the drink can with light brown shade in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the smooth brown can with rounded edges, place it into the yellow basket, then lift the yellow basket.", + "Take the small light brown cylindrical can in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Use the right arm to grab the metal can with printed white graphics, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the rounded metallic can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the metal can with printed white graphics with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to grab the smooth light brown can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the smooth light brown can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the smooth light brown can using the right arm, drop the smooth light brown can into the handheld basket and lift the handheld basket.", + "Pick up the light brown can with smooth texture, put it in the basket with black handle, and lift the basket with black handle.", + "Grab the small cylindrical drink container with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the drink can with light brown shade, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the metal can with white decorative designs, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Place the brown can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick the drink can with light brown shade, set it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the white patterned brown metal can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Drop the rounded metallic can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab and drop the small light brown cylindrical can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the smooth light brown can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick the brown can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Use the right arm to take the light brown can with smooth texture, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metal can with printed white graphics, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the right arm to hold the rounded metallic can, drop the rounded metallic can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the hand-sized metallic can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the drink can with light brown shade with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the smooth light brown can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the smooth brown can with rounded edges, place it in the plastic basket, and then lift the plastic basket.", + "Hold the white patterned brown metal can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the white patterned brown metal can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick up the smooth brown can with rounded edges using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the metal can with white decorative designs, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the smooth brown can with rounded edges, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Use the right arm to grab the metal can with printed white graphics and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the hand-sized metallic can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the drink can with light brown shade and put it in the yellow basket, then lift the yellow basket.", + "Pick up the smooth brown can with rounded edges with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Grab the smooth brown can with rounded edges, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm for the white patterned brown metal can, place the white patterned brown metal can in the handheld basket, and lift the handheld basket.", + "Grab the white patterned brown metal can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the drink can with light brown shade, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Lift the white patterned brown metal can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the small cylindrical drink container, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the smooth brown can with rounded edges with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Pick up the brown can, set it inside the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the basket with black handle, and then lift the basket with black handle.", + "Lift the metal can with white decorative designs, drop it into the plastic basket, then carry the plastic basket.", + "Take the hand-sized metallic can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the smooth light brown can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to pick the white patterned brown metal can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Place the rounded metallic can in the bright yellow basket and then lift the bright yellow basket.", + "Take the smooth brown can with rounded edges, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the metal can with white decorative designs in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots." + ], + "unseen": [ + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..509f22bb5cb3cf5faa448f1e8dc0e3082d72e5cf --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small white can with branding, set it in the yellow basket, and elevate the yellow basket.", + "Grab the small white can with branding, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the red-orange text on white can, set it into the handheld basket, and raise the handheld basket.", + "Grab and drop the smooth white can with accents in the basket with perforated sides, lift the basket with perforated sides.", + "Take the medium metal can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Place the can with rounded cylindrical shape inside the basket with black handle, then lift the basket with black handle.", + "Pick up the white can with 3D RADY label, place it in the plastic basket, and then lift the plastic basket.", + "Take the cylindrical white glossy can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the white can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Lift the can with gold top lid, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Pick up the smooth white can with accents, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Grab the can with gold top lid, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Place the can with rounded cylindrical shape in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Lift the red-orange text on white can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Lift the white can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the cylindrical white glossy can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Drop the can with rounded cylindrical shape into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Grab the can with sealed gold top, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth white can with accents and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to grab the small white can with branding, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Place the white can with 3D RADY label in the yellow basket and then use another arm to lift the yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the rectangular yellow basket and lift the rectangular yellow basket.", + "Grab the small white can with branding, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the small white can with branding with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the same arm to grab the medium metal can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to pick the can with sealed gold top, place it inside the handheld basket, then lift the handheld basket.", + "Pick up the red-orange text on white can with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Grab the cylindrical white glossy can, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the right arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the beverage can with printed label, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Hold the cylindrical white glossy can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the can with red-orange text, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the beverage can with printed label, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the can with sealed gold top, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick up the beverage can with printed label using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Take the cylindrical white glossy can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the small white can with branding, set it inside the handheld basket, then lift the handheld basket.", + "Lift the can with red-orange text, drop it into the basket with black handle, then carry the basket with black handle.", + "Grab the small white can with branding with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the smooth white can with accents in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the can with red-orange text with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the can with gold top lid, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to take the can with rounded cylindrical shape, drop it in the handheld basket, and lift the handheld basket.", + "Use the right arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the small white can with branding, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the smooth white can with accents using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the can with red-orange text, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the can with rounded cylindrical shape, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the cylindrical white glossy can, place it in the plastic basket, and then lift the plastic basket.", + "Take the can with red-orange text, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab and drop the can with sealed gold top in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Take the white can with 3D RADY label with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Place the can with gold top lid inside the plastic basket, then lift the plastic basket.", + "Pick up the can with rounded cylindrical shape, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Take the smooth white can with accents, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the can with gold top lid, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Lift the can with red-orange text, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Pick up the beverage can with printed label, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the can with gold top lid, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Grab the white can with 3D RADY label, put it in the handheld basket, then raise the handheld basket.", + "Place the can with sealed gold top in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Lift the white can, put it in the handheld basket, and carry the handheld basket afterward.", + "Lift the red-orange text on white can with the right arm, set it in the plastic basket, and lift with another arm.", + "Lift the can with sealed gold top, place it inside the handheld basket, and elevate the handheld basket.", + "Drop the cylindrical white glossy can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the smooth white can with accents, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Use the right arm to grab the beverage can with printed label and place in the handheld basket, lift the handheld basket with another arm.", + "Use the right arm to grab the smooth white can with accents, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Place the can with gold top lid in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab the can with rounded cylindrical shape, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Grab the red-orange text on white can using the right arm, drop the red-orange text on white can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Grab the can with gold top lid, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the white can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Use the same arm to grab the beverage can with printed label, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to pick the medium metal can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the medium metal can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Grab the can with gold top lid, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Use the right arm to hold the beverage can with printed label, drop the beverage can with printed label into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the small white can with branding, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Hold the small white can with branding using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the medium metal can, place it in the handheld basket, and raise the handheld basket.", + "Pick the can with sealed gold top, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the red-orange text on white can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick up the white can with 3D RADY label using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the small white can with branding and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the smooth white can with accents, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the beverage can with printed label, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Grab the can with sealed gold top with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Take the beverage can with printed label in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the smooth white can with accents with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Pick up the can with rounded cylindrical shape, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the white can with 3D RADY label with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to take the medium metal can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm for the can with sealed gold top, place the can with sealed gold top in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the small white can with branding, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick the white can with 3D RADY label using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the can with red-orange text, place it in the bright yellow basket, and lift the bright yellow basket." + ], + "unseen": [ + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..929f9e4104dc183b612fec548977f20829a85d8e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the light brown can with smooth texture, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the brown can with the left arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the small cylindrical drink container with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the light brown can with smooth texture, set it in the yellow basket, and lift the yellow basket upward.", + "Lift the small cylindrical drink container, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the hand-sized metallic can using the left arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick up the light brown can with smooth texture with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Pick the small cylindrical drink container with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the left arm to grab the light brown can with smooth texture, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Grab the drink can with light brown shade, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the metal can with printed white graphics with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Grab and drop the small cylindrical drink container in the plastic basket, lift the plastic basket.", + "Grab the hand-sized metallic can with the left arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the small light brown cylindrical can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the brown can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the small cylindrical drink container, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Grab the small cylindrical drink container, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Place the smooth brown can with rounded edges in the basket with black handle and then use another arm to lift the basket with black handle.", + "Pick up the hand-sized metallic can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to take the small cylindrical drink container, drop it in the basket with black handle, and lift the basket with black handle.", + "Lift the hand-sized metallic can, put it in the handheld basket, and carry the handheld basket afterward.", + "Pick up the light brown can with smooth texture, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the small light brown cylindrical can, set it into the plastic basket, and raise the plastic basket.", + "Grab the rounded metallic can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Grab the small cylindrical drink container, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Grab the smooth brown can with rounded edges, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Use the left arm to hold the brown can, drop the brown can into the basket with arched black grip, and lift the basket with arched black grip.", + "Take the light brown can with smooth texture and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the same arm to grab the hand-sized metallic can, place in the handheld basket, and then lift the handheld basket.", + "Use the left arm to grab the metal can with white decorative designs, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Lift the hand-sized metallic can, drop it into the yellow basket, then carry the yellow basket.", + "Place the small light brown cylindrical can in the plastic basket and then lift the plastic basket.", + "Lift the metal can with printed white graphics, place it inside the plastic basket, and elevate the plastic basket.", + "Pick up the light brown can with smooth texture, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the smooth light brown can, put it in the handheld basket, then raise the handheld basket.", + "Pick up the light brown can with smooth texture, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the light brown can with smooth texture, set it in the handheld basket, then lift the handheld basket.", + "Drop the metal can with printed white graphics into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Use the left arm to grab the smooth light brown can and place in the handheld basket, lift the handheld basket with another arm.", + "Use the left arm to grab the small cylindrical drink container, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm for the light brown can with smooth texture, place the light brown can with smooth texture in the basket with black handle, and lift the basket with black handle.", + "Take the smooth brown can with rounded edges in the left arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Place the hand-sized metallic can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the drink can with light brown shade using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the brown can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Lift the brown can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Pick the small cylindrical drink container with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the left arm to pick the metal can with white decorative designs, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the small light brown cylindrical can using the left arm, drop the small light brown cylindrical can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Hold the smooth light brown can using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the rounded metallic can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the small light brown cylindrical can with the left arm, set it in the basket with black handle, and lift with another arm.", + "Pick the metal can with white decorative designs with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick the light brown can with smooth texture, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Lift the small light brown cylindrical can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick the smooth light brown can using the left arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the small cylindrical drink container with the left arm, place into the handheld basket, the other arm raises the handheld basket.", + "Pick the rounded metallic can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the left arm to grab the brown can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the metal can with white decorative designs, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the brown can with the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab and drop the rounded metallic can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Grab the smooth brown can with rounded edges with the left arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the metal can with white decorative designs, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the brown can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the rounded metallic can, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the white patterned brown metal can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Place the brown can in the yellow basket and then use another arm to lift the yellow basket.", + "Pick up the brown can, put it in the handheld basket, and lift the handheld basket.", + "Use the left arm to take the smooth brown can with rounded edges, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the light brown can with smooth texture, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Pick up the smooth brown can with rounded edges, place it in the basket with black handle, and then lift the basket with black handle.", + "Take the small cylindrical drink container, set it into the yellow basket, and raise the yellow basket.", + "Grab the drink can with light brown shade, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Grab the smooth light brown can, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the smooth brown can with rounded edges, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Use the left arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the plastic basket, and lift the plastic basket.", + "Take the smooth light brown can and put it in the basket with black handle, then lift the basket with black handle.", + "Use the same arm to grab the metal can with printed white graphics, place in the bright yellow basket, and then lift the bright yellow basket.", + "Use the left arm to grab the brown can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Lift the small light brown cylindrical can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Place the hand-sized metallic can in the bright yellow basket and then lift the bright yellow basket.", + "Lift the smooth light brown can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the smooth brown can with rounded edges, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the drink can with light brown shade, put it in the yellow basket, then raise the yellow basket.", + "Pick up the white patterned brown metal can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the smooth light brown can, set it in the basket with black handle, then lift the basket with black handle.", + "Drop the small light brown cylindrical can into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Use the left arm to grab the white patterned brown metal can and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Use the left arm to grab the light brown can with smooth texture, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm for the light brown can with smooth texture, place the light brown can with smooth texture in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the light brown can with smooth texture in the left arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Place the brown can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the hand-sized metallic can using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the smooth light brown can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the brown can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the smooth light brown can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the left arm to pick the small cylindrical drink container, place it inside the plastic basket, then lift the plastic basket.", + "Grab the metal can with white decorative designs using the left arm, drop the metal can with white decorative designs into the yellow basket and lift the yellow basket.", + "Hold the hand-sized metallic can using the left arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff." + ], + "unseen": [ + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..da4506355f43a1172e89010ef3c8014b14f4df2c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the drink can with bright colors, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Use the right arm to grab the green red metallic soda can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the drink can with bright colors, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the red green can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab and drop the red green can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Place the smooth cylindrical can with lime pattern inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the small soda can with lime graphics, place it into the yellow basket, then lift the yellow basket.", + "Grab the metal can with pull-tab top, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the can with red green label, set it in the handheld basket, then lift the handheld basket.", + "Grab the green red metallic soda can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the green red metallic soda can, set it inside the yellow basket, then lift the yellow basket.", + "Use the right arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the green red metallic soda can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Place the small soda can with lime graphics in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the red green can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Lift the red green can, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Grab the red green can, set it into the handheld basket, then raise the handheld basket.", + "Take the metal can with pull-tab top with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the colorful can with lime and orange design, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the colorful can with lime and orange design with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Lift the can with red green label, drop it into the yellow basket, then carry the yellow basket.", + "Pick up the red green beverage can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the small soda can with lime graphics with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Use the right arm to grab the small soda can with lime graphics, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the smooth cylindrical can with lime pattern, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to take the small soda can with lime graphics, drop it in the plastic basket, and lift the plastic basket.", + "Lift the soda can with lime illustration, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the red green beverage can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Pick up the small soda can with lime graphics, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the green red metallic soda can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Lift the metallic drink can with pull-tab, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Grab the smooth cylindrical can with lime pattern, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Hold the colorful can with lime and orange design using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Take the green red metallic soda can, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the smooth cylindrical can with lime pattern and put it in the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the red green can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Drop the beverage can with red green graphics into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick up the smooth cylindrical can with lime pattern using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the red green beverage can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick the colorful can with lime and orange design using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Place the can with red green label in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the metal can with pull-tab top using the right arm, drop the metal can with pull-tab top into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick up the red green beverage can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the beverage can with red green graphics, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick the soda can with lime illustration, set it in the basket with black handle, and lift the basket with black handle upward.", + "Use the right arm to grab the drink can with bright colors, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the red green beverage can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the same arm to grab the red green beverage can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the small soda can with lime graphics with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab and drop the colorful can with lime and orange design in the yellow basket, lift the yellow basket.", + "Place the red green beverage can inside the basket with black handle, then lift the basket with black handle.", + "Take the beverage can with red green graphics, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the metal can with pull-tab top, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick the can with red green label, set it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the small soda can with lime graphics, drop it into the yellow basket, and raise the yellow basket.", + "Pick up the small soda can with lime graphics, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the handheld basket, and lift the handheld basket.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Place the red green can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the drink can with bright colors, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Lift the red green beverage can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Grab the small soda can with lime graphics, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Take the metallic drink can with pull-tab with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the metal can with pull-tab top with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the drink can with bright colors, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm to hold the red green can, drop the red green can into the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the small soda can with lime graphics and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the right arm to pick the drink can with bright colors, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the beverage can with red green graphics with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Lift the red green can, drop it into the handheld basket, then carry the handheld basket.", + "Pick up the beverage can with red green graphics, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the can with red green label with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Use the right arm to grab the beverage can with red green graphics, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick up the metal can with pull-tab top, put it into the yellow basket, and lift the yellow basket.", + "Use the right arm to take the metallic drink can with pull-tab, drop it in the handheld basket, and lift the handheld basket.", + "Lift the small soda can with lime graphics, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the drink can with bright colors with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the small soda can with lime graphics, put it in the yellow basket, and lift the yellow basket.", + "Grab the green red metallic soda can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the smooth cylindrical can with lime pattern, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the beverage can with red green graphics, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the small soda can with lime graphics, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the metallic drink can with pull-tab and put it in the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the soda can with lime illustration, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Drop the colorful can with lime and orange design into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Pick up the red green beverage can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the red green can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the drink can with bright colors in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the bright yellow basket and lift the bright yellow basket.", + "Pick up the soda can with lime illustration, place it into the yellow basket, then lift the yellow basket.", + "Grab the metallic drink can with pull-tab, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface." + ], + "unseen": [ + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..ac7de69672317868b975a1c5b8a28670264163c6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the red beverage can with curved top in the right arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Grab the bright red drink container can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Pick the smooth red soda can with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick the metallic can with rounded edges with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick the smooth red soda can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the compact metal drink can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Take the red beverage can with curved top and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the bright red drink container can, place it into the basket for holding items, then lift the basket for holding items.", + "Place the bright red drink container can in the brown basket and then lift the brown basket.", + "Use the right arm for the metallic soda can, place the metallic soda can in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to pick the bright red drink container can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the compact metal drink can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Lift the bright red drink container can with the right arm, set it in the basket with handle, and lift with another arm.", + "Use the right arm to grab the metallic can with rounded edges, place it in the basket with handle, and lift the basket with handle.", + "Pick the bright red drink container can using the right arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick up the palm-sized drink can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Grab the smooth red soda can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Use the right arm to hold the red can with gold illustrations, drop the red can with gold illustrations into the basket with loop handle, and lift the basket with loop handle.", + "Place the red and gold cylindrical can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Pick up the red and gold cylindrical can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Use the right arm to take the red can with gold illustrations, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the palm-sized drink can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Pick up the bright red drink container can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Drop the compact metal drink can into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Grab the compact metal drink can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the palm-sized drink can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the red and gold cylindrical can, place it in the woven basket, and raise the woven basket using the other arm.", + "Pick the gold-decorated aluminum can, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Grab the metallic can with rounded edges with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the red can with gold illustrations, set it in the brown basket, and elevate the brown basket.", + "Lift the compact metal drink can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Pick up the red can using the right arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Lift the metallic can with rounded edges, drop it into the brown basket, then carry the brown basket.", + "Use the right arm to grab the metallic can with rounded edges and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Use the same arm to grab the smooth red soda can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick the bright red drink container can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the red and gold cylindrical can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Take the bright red drink container can, set it into the basket with loop handle, and raise the basket with loop handle.", + "Place the red can inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the red can using the right arm, drop the red can into the light brown oval basket and lift the light brown oval basket.", + "Grab the red beverage can with curved top, drop it into the basket with handle, and raise the basket with handle.", + "Use the right arm to grab the red and gold cylindrical can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Pick up the red and gold cylindrical can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the smooth red soda can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the metallic soda can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab and drop the red beverage can with curved top in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Hold the red and gold cylindrical can using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the palm-sized drink can with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Lift the red and gold cylindrical can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Lift the gold-decorated aluminum can, place it in the brown basket, and raise the brown basket.", + "Take the smooth red soda can in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Grab the bright red drink container can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick the red can with the right arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick the smooth red soda can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the red beverage can with curved top with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Lift the gold-decorated aluminum can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Take the red can with gold illustrations and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the smooth red soda can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Use the right arm for the smooth red soda can, place the smooth red soda can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm to pick the compact metal drink can, place it inside the woven basket, then lift the woven basket.", + "Grab the gold-decorated aluminum can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Lift the red beverage can with curved top with the right arm, set it in the woven basket, and lift with another arm.", + "Use the right arm to grab the palm-sized drink can, place it in the brown basket, and lift the brown basket.", + "Pick the red can using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick up the bright red drink container can, place it in the brown basket, and then lift the brown basket.", + "Grab the compact metal drink can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the basket made of woven wood, and lift the basket made of woven wood.", + "Place the smooth red soda can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Pick up the red beverage can with curved top with the right arm, place into the basket with handle, the other arm raises the basket with handle.", + "Use the right arm to take the metallic soda can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the palm-sized drink can, place it in the woven basket, and lift the woven basket upwards.", + "Pick up the compact metal drink can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the red can with gold illustrations into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Grab the bright red drink container can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the gold-decorated aluminum can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the compact metal drink can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick the gold patterned beverage can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Grab the bright red drink container can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the compact metal drink can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the red can with gold illustrations, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the metallic can with rounded edges using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the smooth red soda can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Use the right arm to grab the red beverage can with curved top and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Use the same arm to grab the smooth red soda can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the metallic can with rounded edges, set it in the basket with loop handle, then lift the basket with loop handle.", + "Use the right arm to grab the smooth red soda can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Take the red can with gold illustrations, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Place the gold patterned beverage can inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the gold patterned beverage can using the right arm, drop the gold patterned beverage can into the basket for carrying things and lift the basket for carrying things.", + "Grab the smooth red soda can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to grab the compact metal drink can, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the gold-decorated aluminum can, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the metallic soda can, set it into the basket with handle, then raise the basket with handle.", + "Pick up the red can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Grab and drop the red and gold cylindrical can in the brown basket, lift the brown basket.", + "Hold the metallic soda can using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the red and gold cylindrical can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the metallic can with rounded edges, put it in the woven basket, and carry the woven basket afterward.", + "Lift the red can, place it in the brown basket, and raise the brown basket." + ], + "unseen": [ + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..760095e1c37d734db8a04ca32a13b6543222636f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small white can with branding, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the can with rounded cylindrical shape, put it in the light brown oval basket, then raise the light brown oval basket.", + "Grab the beverage can with printed label, set it into the basket with loop handle, then raise the basket with loop handle.", + "Place the can with sealed gold top inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the beverage can with printed label, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Take the can with sealed gold top in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab and drop the white can with 3D RADY label in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Pick up the red-orange text on white can, put it into the woven basket, and lift the woven basket.", + "Grab the red-orange text on white can, drop it into the woven basket, and raise the woven basket.", + "Use the left arm to take the smooth white can with accents, drop it in the brown basket, and lift the brown basket.", + "Lift the smooth white can with accents, place it in the woven basket, and raise the woven basket.", + "Lift the medium metal can, place it in the brown basket, pick up the brown basket afterward.", + "Take the can with red-orange text, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the red-orange text on white can with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the beverage can with printed label and put it in the basket with handle, then lift the basket with handle.", + "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Take the cylindrical white glossy can, place it into the woven basket, then lift the woven basket.", + "Pick the red-orange text on white can, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Lift the small white can with branding, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the left arm to grab the can with red-orange text, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Use the left arm to grab the beverage can with printed label, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Pick up the cylindrical white glossy can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Pick up the small white can with branding using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the red-orange text on white can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the cylindrical white glossy can with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Use the same arm to grab the can with gold top lid, place in the woven basket, and then lift the woven basket.", + "Pick up the white can, put it in the basket for holding items, and lift the basket for holding items.", + "Pick the can with red-orange text with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the woven basket, and lift the woven basket.", + "Lift the white can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Pick the can with sealed gold top using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the medium metal can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Use the left arm to grab the red-orange text on white can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Place the medium metal can in the basket for holding items and then lift the basket for holding items.", + "Pick up the can with gold top lid, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the medium metal can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Take the red-orange text on white can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Drop the white can into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the red-orange text on white can, place it in the brown basket, and then lift the brown basket.", + "Grab the smooth white can with accents, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Pick up the can with red-orange text, place it into the basket for holding items, then lift the basket for holding items.", + "Hold the red-orange text on white can using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the can with red-orange text, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to pick the can with gold top lid, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the can with rounded cylindrical shape, drop it into the basket with handle, then carry the basket with handle.", + "Place the can with sealed gold top in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Grab the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Grab the white can with 3D RADY label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the white can with 3D RADY label, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Grab the white can, put it in the brown basket, then raise the brown basket.", + "Grab the white can with 3D RADY label, set it into the basket for carrying things, then raise the basket for carrying things.", + "Place the smooth white can with accents inside the basket with handle, then lift the basket with handle.", + "Grab the red-orange text on white can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Take the beverage can with printed label in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Grab and drop the can with rounded cylindrical shape in the basket for carrying things, lift the basket for carrying things.", + "Pick up the can with rounded cylindrical shape, put it into the basket with handle, and lift the basket with handle.", + "Grab the white can, drop it into the basket with handle, and raise the basket with handle.", + "Use the left arm to take the can with sealed gold top, drop it in the woven basket, and lift the woven basket.", + "Lift the can with gold top lid, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Lift the medium metal can, place it in the brown basket, pick up the brown basket afterward.", + "Take the cylindrical white glossy can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the red-orange text on white can with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Take the red-orange text on white can and put it in the woven basket, then lift the woven basket.", + "Grab the cylindrical white glossy can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Grab the medium metal can using the left arm, drop the medium metal can into the basket for holding items and lift the basket for holding items.", + "Take the can with sealed gold top, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the smooth white can with accents, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Lift the smooth white can with accents, place it inside the woven basket, and elevate the woven basket.", + "Use the left arm to grab the medium metal can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Use the left arm to grab the small white can with branding, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick up the beverage can with printed label with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Use the left arm to grab the can with gold top lid, place it in the woven basket, and lift the woven basket.", + "Lift the white can with 3D RADY label with the left arm, set it in the basket for holding items, and lift with another arm.", + "Use the same arm to grab the can with sealed gold top, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the medium metal can, put it in the basket for holding items, and lift the basket for holding items.", + "Pick the red-orange text on white can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the brown basket, and lift the brown basket.", + "Lift the beverage can with printed label, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick the beverage can with printed label using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the small white can with branding with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Use the left arm to grab the can with red-orange text and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Place the cylindrical white glossy can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Pick up the can with sealed gold top, set it inside the woven basket, then lift the woven basket.", + "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Take the can with rounded cylindrical shape with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Drop the red-orange text on white can into the brown basket using the left arm, then lift the brown basket with another arm.", + "Use the left arm for the white can, place the white can in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the can with sealed gold top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the can with gold top lid, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Pick up the cylindrical white glossy can, place it into the basket with handle, then lift the basket with handle.", + "Hold the smooth white can with accents using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick the smooth white can with accents, set it in the basket for holding items, then lift the basket for holding items.", + "Use the left arm to pick the red-orange text on white can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the can with gold top lid, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Place the small white can with branding in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Grab the white can with 3D RADY label, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the smooth white can with accents with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm." + ], + "unseen": [ + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5864f50acfc4160ba07d6f45c2e6991bf298ff --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ARX-X5/meta/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + 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b/robotwin_multiembodiments/place_can_basket/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_can_basket/aloha-agilex/meta/info.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ba051217178613bb562985494f59238ed499ce --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "place_can_basket", + "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_can_basket/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..2446f04e3cb9ed774b37d42cc22b1ecce26d8de3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical white glossy can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Place the cylindrical white glossy can inside the basket with black handle, then lift the basket with black handle.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the small white can with branding, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm to pick the beverage can with printed label, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the left arm to take the white can with 3D RADY label, drop it in the handheld basket, and lift the handheld basket.", + "Pick the can with sealed gold top with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm to grab the white can with 3D RADY label, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Lift the small white can with branding, place it in the plastic basket, and raise the plastic basket.", + "Use the same arm to grab the beverage can with printed label, place in the yellow basket, and then lift the yellow basket.", + "Grab and drop the can with rounded cylindrical shape in the basket with black handle, lift the basket with black handle.", + "Pick the red-orange text on white can with the left arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the beverage can with printed label, put it in the bright yellow basket, then raise the bright yellow basket.", + "Lift the can with red-orange text, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick up the can with sealed gold top, put it into the basket with black handle, and lift the basket with black handle.", + "Lift the medium metal can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Take the medium metal can, place it into the basket with black handle, then lift the basket with black handle.", + "Grab the white can, set it into the basket with black handle, then raise the basket with black handle.", + "Lift the cylindrical white glossy can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the white can with 3D RADY label, place it in the handheld basket, and then lift the handheld basket.", + "Lift the can with rounded cylindrical shape, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the cylindrical white glossy can, place it in the handheld basket, and then lift the handheld basket.", + "Take the cylindrical white glossy can with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the left arm to grab the small white can with branding, place it in the plastic basket, and lift the plastic basket.", + "Take the small white can with branding, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the medium metal can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Pick the can with red-orange text with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the can with sealed gold top, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Lift the smooth white can with accents, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the smooth white can with accents, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick the can with sealed gold top, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick the can with rounded cylindrical shape, set it in the bright yellow basket, then lift the bright yellow basket.", + "Place the can with sealed gold top in the basket with black handle and then lift the basket with black handle.", + "Hold the cylindrical white glossy can using the left arm, place it in the plastic basket, and lift the plastic basket.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the can with rounded cylindrical shape and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the can with gold top lid using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the left arm to grab the white can and place in the yellow basket, lift the yellow basket with another arm.", + "Pick up the can with rounded cylindrical shape with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the can with red-orange text, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Lift the red-orange text on white can with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Pick up the beverage can with printed label, put it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with black handle and lift the basket with black handle.", + "Use the left arm to hold the small white can with branding, drop the small white can with branding into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Drop the smooth white can with accents into the handheld basket using the left arm, then lift the handheld basket with another arm.", + "Place the small white can with branding in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick up the can with red-orange text, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm to grab the white can with 3D RADY label, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Take the smooth white can with accents in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the small white can with branding, drop it into the handheld basket, then use another arm for the handheld basket.", + "Place the medium metal can inside the plastic basket, then lift the plastic basket.", + "Grab the white can with the left arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the smooth white can with accents, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm to pick the can with gold top lid, place it inside the basket with black handle, then lift the basket with black handle.", + "Use the left arm to take the beverage can with printed label, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the can with gold top lid with the left arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the left arm to grab the white can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Lift the white can, place it in the handheld basket, and raise the handheld basket.", + "Use the same arm to grab the can with gold top lid, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab and drop the smooth white can with accents in the bright yellow basket, lift the bright yellow basket.", + "Pick the medium metal can with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab the white can with 3D RADY label, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the medium metal can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick up the can with rounded cylindrical shape, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the smooth white can with accents, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Take the white can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the can with red-orange text, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the can with sealed gold top, set it in the yellow basket, and elevate the yellow basket.", + "Grab the medium metal can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Lift the white can with 3D RADY label, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick up the can with sealed gold top, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Take the medium metal can with the left arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm to grab the red-orange text on white can, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the smooth white can with accents, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the can with gold top lid, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Pick the white can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the can with red-orange text using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the beverage can with printed label, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the smooth white can with accents, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the can with rounded cylindrical shape, place it in the plastic basket, and lift the plastic basket upwards.", + "Pick the small white can with branding, set it in the handheld basket, and lift the handheld basket upward.", + "Pick the can with red-orange text, set it in the handheld basket, then lift the handheld basket.", + "Place the can with rounded cylindrical shape in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Hold the cylindrical white glossy can using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the yellow basket, and lift the yellow basket.", + "Take the cylindrical white glossy can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the red-orange text on white can using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the left arm to grab the red-orange text on white can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick up the cylindrical white glossy can with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the medium metal can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Lift the small white can with branding with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Pick up the smooth white can with accents, put it in the plastic basket, and lift the plastic basket.", + "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the yellow basket, and lift the yellow basket.", + "Drop the white can into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Place the can with gold top lid in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick up the can with gold top lid, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm to grab the small white can with branding, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Take the beverage can with printed label in the left arm, place it into the bright yellow basket, another arm lifts the bright yellow basket." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..9093cd0a26b4d059d30984aabe4a4f92805c569e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical can with flat surfaces, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the drink can with smooth red finish and put it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the medium-sized soda can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Take the red and white beverage can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Lift the cylindrical metal can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Lift the cylindrical can with flat surfaces, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Place the cylindrical metal can in the woven basket and then use another arm to lift the woven basket.", + "Lift the smooth red can, drop it into the basket for holding items, then carry the basket for holding items.", + "Use the left arm for the red can with decorative label, place the red can with decorative label in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the smooth red can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Grab the red shiny can with green label, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the smooth red can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the red can with decorative label, drop it into the basket with handle, then use another arm for the basket with handle.", + "Grab the metal can with red base with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the left arm to pick the drink can with smooth red finish, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Take the red soda can with green accents in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Take the metal can with red base, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the red soda can with green accents, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the red drink can with white lid and place in the brown basket, lift the brown basket with another arm.", + "Grab and drop the red can with decorative label in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Grab the drink can with smooth red finish, drop it into the basket for holding items, and raise the basket for holding items.", + "Pick up the can with flat silver bottom, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the cylindrical metal can, set it in the brown basket, and elevate the brown basket.", + "Pick up the metal can with red base using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the can with flat silver bottom with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Grab the drink can with smooth red finish, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Grab the red soda can with green accents, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Lift the red shiny can with green label, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Hold the smooth red can using the left arm, place it in the woven basket, and lift the woven basket.", + "Pick up the cylindrical metal can with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Lift the red and white beverage can, put it in the brown basket, and carry the brown basket afterward.", + "Pick the can with flat silver bottom with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Use the left arm to take the smooth red can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the drink can with smooth red finish inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the cylindrical metal can, place it into the woven basket, and lift the woven basket using the other arm.", + "Place the red and white beverage can in the woven basket and then lift the woven basket.", + "Use the left arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the basket for holding items, and lift the basket for holding items.", + "Grab the red shiny can with green label, put it in the brown basket, then raise the brown basket.", + "Pick up the medium-sized soda can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the left arm to grab the cylindrical can with flat surfaces, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the metal can with red base into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.", + "Use the left arm to grab the medium-sized soda can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Grab the cylindrical can with flat surfaces using the left arm, drop the cylindrical can with flat surfaces into the basket for carrying things and lift the basket for carrying things.", + "Pick up the drink can with smooth red finish, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the cylindrical metal can, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Pick the red shiny can with green label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Use the same arm to grab the red soda can with green accents, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Take the red shiny can with green label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the metal can with red base, put it in the basket for holding items, and lift the basket for holding items.", + "Pick the red can with decorative label using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the metal can with red base, set it in the basket with loop handle, then lift the basket with loop handle.", + "Take the smooth red can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the red can with decorative label, place it inside the brown basket, and elevate the brown basket.", + "Take the medium-sized soda can with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the drink can with smooth red finish with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Lift the can with flat silver bottom, place it in the brown basket, and raise the brown basket.", + "Place the cylindrical metal can in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Lift the red and white beverage can, drop it into the basket with handle, then carry the basket with handle.", + "Use the left arm for the cylindrical metal can, place the cylindrical metal can in the basket with handle, and lift the basket with handle.", + "Grab the red and white beverage can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the red can with decorative label, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick the metal can with red base with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the red and white beverage can, drop it into the brown basket, then use another arm for the brown basket.", + "Grab the red shiny can with green label with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to pick the smooth red can, place it inside the woven basket, then lift the woven basket.", + "Take the drink can with smooth red finish in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Take the red drink can with white lid, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the smooth red can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the cylindrical can with flat surfaces and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab and drop the drink can with smooth red finish in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Grab the medium-sized soda can, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Pick up the red soda can with green accents, set it inside the basket for holding items, then lift the basket for holding items.", + "Lift the red and white beverage can, set it in the woven basket, and elevate the woven basket.", + "Pick up the cylindrical metal can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Pick the metal can with red base with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the red soda can with green accents, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Grab the metal can with red base, place it in the woven basket, and raise the woven basket using the other arm.", + "Lift the red drink can with white lid, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Hold the red drink can with white lid using the left arm, place it in the brown basket, and lift the brown basket.", + "Pick up the red and white beverage can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Lift the medium-sized soda can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Pick the red shiny can with green label with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the left arm to take the red and white beverage can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Place the red drink can with white lid inside the woven basket, then lift the woven basket.", + "Use the left arm to grab the cylindrical metal can, place it into the woven basket, and lift the woven basket using the other arm.", + "Place the red and white beverage can in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Use the left arm to hold the cylindrical metal can, drop the cylindrical metal can into the basket for carrying things, and lift the basket for carrying things.", + "Grab the cylindrical metal can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Pick up the smooth red can, place it in the woven basket, and then lift the woven basket.", + "Use the left arm to grab the medium-sized soda can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the red drink can with white lid into the woven basket using the left arm, then lift the woven basket with another arm.", + "Use the left arm to grab the cylindrical can with flat surfaces, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Grab the drink can with smooth red finish using the left arm, drop the drink can with smooth red finish into the woven basket and lift the woven basket.", + "Pick up the can with flat silver bottom, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the red and white beverage can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Pick the cylindrical metal can, set it in the brown basket, and lift the brown basket upward.", + "Use the same arm to grab the red soda can with green accents, place in the basket for holding items, and then lift the basket for holding items.", + "Take the metal can with red base, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the drink can with smooth red finish, put it in the basket for holding items, and lift the basket for holding items.", + "Pick the red soda can with green accents using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm." + ], + "unseen": [ + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the red can with white top, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..9a850e9c32fd8817573b1b71853048c03b5c0d0d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beverage can with red green graphics, put it in the basket for holding items, then raise the basket for holding items.", + "Pick the red green can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Use the same arm to grab the colorful can with lime and orange design, place in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the colorful can with lime and orange design, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Pick up the smooth cylindrical can with lime pattern, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the drink can with bright colors, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Take the colorful can with lime and orange design, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Place the soda can with lime illustration in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Lift the colorful can with lime and orange design, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Lift the metallic drink can with pull-tab, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick up the smooth cylindrical can with lime pattern, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Use the right arm to grab the metal can with pull-tab top and place in the woven basket, lift the woven basket with another arm.", + "Lift the beverage can with red green graphics, place it in the brown basket, pick up the brown basket afterward.", + "Lift the red green can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Take the soda can with lime illustration with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Hold the can with red green label using the right arm, place it in the woven basket, and lift the woven basket.", + "Use the right arm to grab the metallic drink can with pull-tab, place it in the basket for holding items, and lift the basket for holding items.", + "Drop the metal can with pull-tab top into the smooth ribbed light brown basket using the right arm, then lift the smooth ribbed light brown basket with another arm.", + "Grab the drink can with bright colors, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Pick the soda can with lime illustration, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Pick up the green red metallic soda can, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Lift the colorful can with lime and orange design with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Lift the drink can with bright colors, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the red green can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Grab the metallic drink can with pull-tab, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Take the red green beverage can in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Use the right arm to grab the drink can with bright colors, place it into the brown basket, and lift the brown basket using the other arm.", + "Use the right arm to take the metal can with pull-tab top, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the colorful can with lime and orange design, set it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the soda can with lime illustration, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Pick the drink can with bright colors using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the drink can with bright colors, set it into the basket for holding items, then raise the basket for holding items.", + "Place the metal can with pull-tab top inside the light brown oval basket, then lift the light brown oval basket.", + "Take the green red metallic soda can, place it into the basket for holding items, then lift the basket for holding items.", + "Pick up the red green beverage can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the colorful can with lime and orange design, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab and drop the metallic drink can with pull-tab in the basket with loop handle, lift the basket with loop handle.", + "Grab the metal can with pull-tab top with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to hold the colorful can with lime and orange design, drop the colorful can with lime and orange design into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the beverage can with red green graphics, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm for the metallic drink can with pull-tab, place the metallic drink can with pull-tab in the basket for carrying things, and lift the basket for carrying things.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the basket with handle and lift the basket with handle.", + "Pick up the green red metallic soda can with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Take the drink can with bright colors and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the small soda can with lime graphics, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Place the drink can with bright colors in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Grab the smooth cylindrical can with lime pattern, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick the colorful can with lime and orange design with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the right arm to pick the drink can with bright colors, place it inside the basket for holding items, then lift the basket for holding items.", + "Grab the beverage can with red green graphics, put it in the brown basket, then raise the brown basket.", + "Pick the red green beverage can with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the same arm to grab the green red metallic soda can, place in the woven basket, and then lift the woven basket.", + "Lift the can with red green label, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Pick up the metal can with pull-tab top, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the small soda can with lime graphics, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Take the metallic drink can with pull-tab, set it into the brown basket, and raise the brown basket.", + "Place the metal can with pull-tab top in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Lift the soda can with lime illustration, place it in the basket with loop handle, and raise the basket with loop handle.", + "Lift the soda can with lime illustration, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Pick up the soda can with lime illustration, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Use the right arm to grab the beverage can with red green graphics and place in the woven basket, lift the woven basket with another arm.", + "Lift the metallic drink can with pull-tab, place it in the basket with handle, pick up the basket with handle afterward.", + "Lift the soda can with lime illustration, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Take the colorful can with lime and orange design with the right arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the colorful can with lime and orange design into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the woven basket, then use another arm for the woven basket.", + "Pick the metallic drink can with pull-tab, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Pick up the red green beverage can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the can with red green label with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Lift the soda can with lime illustration with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Lift the colorful can with lime and orange design, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the drink can with bright colors using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the red green beverage can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Take the red green beverage can in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Use the right arm to grab the beverage can with red green graphics, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Use the right arm to take the beverage can with red green graphics, drop it in the woven basket, and lift the woven basket.", + "Pick the red green can, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the red green beverage can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick the red green beverage can using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Grab the red green can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Place the red green beverage can inside the woven basket, then lift the woven basket.", + "Take the metallic drink can with pull-tab, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the drink can with bright colors, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the can with red green label, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab and drop the green red metallic soda can in the basket made of woven wood, lift the basket made of woven wood.", + "Grab the drink can with bright colors with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the woven basket, and lift the woven basket.", + "Pick up the red green beverage can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the brown basket, and lift the brown basket.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the basket for holding items and lift the basket for holding items.", + "Pick up the metal can with pull-tab top with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Take the metal can with pull-tab top and put it in the basket for carrying things, then lift the basket for carrying things.", + "Use the right arm to grab the colorful can with lime and orange design, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Place the red green can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Grab the metal can with pull-tab top, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Pick the metallic drink can with pull-tab with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the right arm to pick the soda can with lime illustration, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body." + ], + "unseen": [ + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..39fdc6c1965eeec19008f9aa07c81561469c69c1 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red drink can with white lid, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Use the left arm to pick the drink can with smooth red finish, place it inside the plastic basket, then lift the plastic basket.", + "Use the left arm to grab the red and white beverage can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Take the can with flat silver bottom with the left arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Pick the drink can with smooth red finish with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Grab the red drink can with white lid, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the smooth red can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the left arm to grab the red shiny can with green label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red shiny can with green label using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the can with flat silver bottom, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the red drink can with white lid, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Pick up the red shiny can with green label, place it in the handheld basket, and then lift the handheld basket.", + "Grab the red drink can with white lid, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Pick up the can with flat silver bottom with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the red drink can with white lid with the left arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the left arm to grab the red soda can with green accents and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the metal can with red base, place it inside the handheld basket, and elevate the handheld basket.", + "Pick up the can with flat silver bottom, set it inside the basket with black handle, then lift the basket with black handle.", + "Grab the red shiny can with green label, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick the red soda can with green accents with the left arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the can with flat silver bottom using the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab and drop the red and white beverage can in the bright yellow basket, lift the bright yellow basket.", + "Take the metal can with red base, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the left arm to grab the cylindrical can with flat surfaces, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Lift the red drink can with white lid, place it in the handheld basket, and raise the handheld basket.", + "Grab the smooth red can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Place the can with flat silver bottom in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Place the red can with decorative label inside the bright yellow basket, then lift the bright yellow basket.", + "Drop the smooth red can into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Grab the red can with decorative label using the left arm, drop the red can with decorative label into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Hold the smooth red can using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to take the red shiny can with green label, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the can with flat silver bottom, drop it into the handheld basket, then use another arm for the handheld basket.", + "Lift the red and white beverage can with the left arm, set it in the basket with black handle, and lift with another arm.", + "Take the red and white beverage can in the left arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Place the can with flat silver bottom in the handheld basket and then lift the handheld basket.", + "Use the left arm for the can with flat silver bottom, place the can with flat silver bottom in the plastic basket, and lift the plastic basket.", + "Pick the medium-sized soda can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the can with flat silver bottom, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the cylindrical can with flat surfaces, put it into the handheld basket, and lift the handheld basket.", + "Pick the cylindrical metal can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the red and white beverage can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Take the can with flat silver bottom, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the red can with decorative label, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the left arm to hold the metal can with red base, drop the metal can with red base into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the red can with decorative label, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Pick up the metal can with red base, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the same arm to grab the red soda can with green accents, place in the yellow basket, and then lift the yellow basket.", + "Pick the cylindrical metal can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Take the red can with decorative label and put it in the handheld basket, then lift the handheld basket.", + "Lift the red drink can with white lid, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Use the left arm to pick the red shiny can with green label, place it inside the basket with black handle, then lift the basket with black handle.", + "Use the left arm to grab the metal can with red base, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Take the can with flat silver bottom with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the medium-sized soda can with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the red and white beverage can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Grab the red and white beverage can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the left arm to grab the cylindrical can with flat surfaces, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the medium-sized soda can using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the red and white beverage can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the red soda can with green accents, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the metal can with red base, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the medium-sized soda can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick up the drink can with smooth red finish with the left arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Grab the red drink can with white lid with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the left arm to grab the red and white beverage can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the smooth red can, place it inside the handheld basket, and elevate the handheld basket.", + "Pick up the can with flat silver bottom, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the cylindrical can with flat surfaces, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick the red soda can with green accents with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the red soda can with green accents using the left arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab and drop the metal can with red base in the yellow basket, lift the yellow basket.", + "Take the red shiny can with green label, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the left arm to grab the red soda can with green accents, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the red soda can with green accents, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the metal can with red base, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Place the drink can with smooth red finish in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Place the cylindrical can with flat surfaces inside the bright yellow basket, then lift the bright yellow basket.", + "Drop the cylindrical can with flat surfaces into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the cylindrical metal can using the left arm, drop the cylindrical metal can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Hold the red soda can with green accents using the left arm, place it in the plastic basket, and lift the plastic basket.", + "Use the left arm to take the cylindrical can with flat surfaces, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the cylindrical metal can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Lift the metal can with red base with the left arm, set it in the plastic basket, and lift with another arm.", + "Take the drink can with smooth red finish in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Place the red can with decorative label in the yellow basket and then lift the yellow basket.", + "Use the left arm for the red drink can with white lid, place the red drink can with white lid in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the red shiny can with green label, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the red drink can with white lid, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the red soda can with green accents, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the medium-sized soda can, set it in the plastic basket, and elevate the plastic basket.", + "Take the red shiny can with green label, place it into the plastic basket, then lift the plastic basket.", + "Lift the cylindrical metal can, put it in the handheld basket, and carry the handheld basket afterward.", + "Use the left arm to hold the red drink can with white lid, drop the red drink can with white lid into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the drink can with smooth red finish, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the red shiny can with green label, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the same arm to grab the can with flat silver bottom, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the can with flat silver bottom, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Take the red shiny can with green label and put it in the plastic basket, then lift the plastic basket." + ], + "unseen": [ + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..6b403a0a0221ec8a965f75959e1241f26e57fd74 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the metallic can with rounded edges with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the red can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Take the red beverage can with curved top in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the red can, drop it into the basket for holding items, and raise the basket for holding items.", + "Use the left arm to hold the metallic soda can, drop the metallic soda can into the basket with handle, and lift the basket with handle.", + "Use the left arm for the compact metal drink can, place the compact metal drink can in the basket for carrying things, and lift the basket for carrying things.", + "Use the same arm to grab the smooth red soda can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the gold patterned beverage can, place it in the basket with handle, and lift the basket with handle.", + "Place the gold-decorated aluminum can in the brown basket and then use another arm to lift the brown basket.", + "Grab the metallic soda can using the left arm, drop the metallic soda can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Lift the metallic soda can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Take the red and gold cylindrical can and put it in the basket for holding items, then lift the basket for holding items.", + "Place the compact metal drink can inside the light brown oval basket, then lift the light brown oval basket.", + "Pick the red can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the red and gold cylindrical can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab the metallic soda can, place it in the basket with handle, and lift the basket with handle upwards.", + "Pick the metallic can with rounded edges with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the gold-decorated aluminum can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to grab the metallic soda can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Use the left arm to pick the red and gold cylindrical can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the gold patterned beverage can, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Take the smooth red soda can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the red beverage can with curved top with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Take the gold patterned beverage can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the red and gold cylindrical can with the left arm, set it in the basket for holding items, and lift with another arm.", + "Use the left arm to grab the compact metal drink can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Pick up the metallic soda can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the smooth red soda can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Lift the palm-sized drink can, put it in the woven basket, and carry the woven basket afterward.", + "Pick up the palm-sized drink can, place it in the woven basket, and then lift the woven basket.", + "Lift the gold patterned beverage can, place it in the woven basket, pick up the woven basket afterward.", + "Lift the smooth red soda can, place it inside the brown basket, and elevate the brown basket.", + "Use the left arm to grab the red can with gold illustrations and place in the brown basket, lift the brown basket with another arm.", + "Grab the compact metal drink can, place it in the basket with handle, and then lift the basket with handle.", + "Hold the bright red drink container can using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the bright red drink container can, put it into the woven basket, and lift the woven basket.", + "Take the bright red drink container can, set it into the basket for holding items, and raise the basket for holding items.", + "Use the left arm to take the bright red drink container can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the palm-sized drink can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Grab the metallic can with rounded edges, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Grab and drop the gold patterned beverage can in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Grab the smooth red soda can, set it into the woven basket, then raise the woven basket.", + "Grab the bright red drink container can, put it in the basket for holding items, then raise the basket for holding items.", + "Lift the gold patterned beverage can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick the bright red drink container can, set it in the brown basket, then lift the brown basket.", + "Pick the palm-sized drink can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick up the red can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Drop the red can into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Place the bright red drink container can in the woven basket and then lift the woven basket.", + "Pick up the smooth red soda can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the bright red drink container can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the red can, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Take the palm-sized drink can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Grab the palm-sized drink can, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Use the left arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm for the gold-decorated aluminum can, place the gold-decorated aluminum can in the light brown oval basket, and lift the light brown oval basket.", + "Use the same arm to grab the red can, place in the basket with handle, and then lift the basket with handle.", + "Use the left arm to grab the gold-decorated aluminum can, place it in the light brown oval basket, and lift the light brown oval basket.", + "Place the red beverage can with curved top in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Grab the red and gold cylindrical can using the left arm, drop the red and gold cylindrical can into the brown basket and lift the brown basket.", + "Lift the red beverage can with curved top, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Take the bright red drink container can and put it in the basket with handle, then lift the basket with handle.", + "Place the red and gold cylindrical can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the metallic soda can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Grab the red and gold cylindrical can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Grab the red can with gold illustrations, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Pick the red can with gold illustrations with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick up the gold-decorated aluminum can, place it into the brown basket, then lift the brown basket.", + "Use the left arm to grab the gold-decorated aluminum can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Use the left arm to pick the compact metal drink can, place it inside the woven basket, then lift the woven basket.", + "Pick the red can, set it in the brown basket, and lift the brown basket upward.", + "Take the bright red drink container can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the compact metal drink can with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the red can with gold illustrations with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the metallic soda can with the left arm, set it in the basket with handle, and lift with another arm.", + "Use the left arm to grab the red can with gold illustrations, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Pick up the palm-sized drink can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the red can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Lift the metallic soda can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick up the metallic can with rounded edges, place it in the brown basket, and then lift the brown basket.", + "Lift the red beverage can with curved top, place it in the basket with handle, pick up the basket with handle afterward.", + "Lift the red can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Use the left arm to grab the bright red drink container can and place in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the red and gold cylindrical can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Hold the red beverage can with curved top using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the gold-decorated aluminum can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the gold-decorated aluminum can, set it into the basket for holding items, and raise the basket for holding items.", + "Use the left arm to take the bright red drink container can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the compact metal drink can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Grab the red and gold cylindrical can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Grab and drop the red beverage can with curved top in the basket for carrying things, lift the basket for carrying things.", + "Grab the red and gold cylindrical can, set it into the basket for holding items, then raise the basket for holding items.", + "Grab the red beverage can with curved top, put it in the basket for carrying things, then raise the basket for carrying things.", + "Lift the metallic soda can, place it in the basket for holding items, and raise the basket for holding items.", + "Pick the palm-sized drink can, set it in the woven basket, then lift the woven basket.", + "Pick the red can with gold illustrations with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the red and gold cylindrical can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Drop the gold patterned beverage can into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Place the gold-decorated aluminum can in the brown basket and then lift the brown basket.", + "Pick up the compact metal drink can, put it in the light brown oval basket, and lift the light brown oval basket." + ], + "unseen": [ + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..227ecb8b90ab311db7806bcdc1b87d94f0fcc700 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red cylindrical can with silver top with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the red can with white Coca-Cola logo and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick the rounded red Coca-Cola soda container, set it in the basket with black handle, and lift the basket with black handle upward.", + "Grab the red can with white lettering, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Grab the Coca-Cola can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Hold the hand-sized red can for drinks using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the Coca-Cola can, put it in the plastic basket, and lift the plastic basket.", + "Place the smooth red can with silver bottom in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick the red can with white Coca-Cola logo with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Lift the red can with smooth metallic texture, place it in the yellow basket, and raise the yellow basket.", + "Use the right arm to grab the metallic red beverage can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Lift the Coca-Cola soda can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the red can with white lettering, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick the rounded red Coca-Cola soda container, set it in the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the cylindrical red drink can with logo, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the red cylindrical can with silver top, set it inside the basket with black handle, then lift the basket with black handle.", + "Grab the Coca-Cola can, drop it into the yellow basket, and raise the yellow basket.", + "Take the rounded red Coca-Cola soda container in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick up the cylindrical red drink can with logo, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the hand-sized red can for drinks, drop it into the handheld basket, then carry the handheld basket.", + "Pick up the cylindrical red drink can with logo, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the smooth red can with silver bottom, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Pick up the cylindrical red drink can with logo using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick the red can with smooth metallic texture using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the rounded red Coca-Cola soda container using the right arm, drop the rounded red Coca-Cola soda container into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Take the metallic red beverage can, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the red cylindrical can with silver top, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Lift the red can with white Coca-Cola logo, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the smooth red can with silver bottom with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to hold the small aluminum red drink can, drop the small aluminum red drink can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the small aluminum red drink can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to pick the red can with smooth metallic texture, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the Coca-Cola can, place it in the yellow basket, and then lift the yellow basket.", + "Pick up the red cylindrical can with silver top with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Use the right arm to take the small aluminum red drink can, drop it in the yellow basket, and lift the yellow basket.", + "Pick the metallic red beverage can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab and drop the small aluminum red drink can in the handheld basket, lift the handheld basket.", + "Take the red can with white Coca-Cola logo, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the red can with smooth metallic texture with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the Coca-Cola can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the plastic basket, and lift the plastic basket.", + "Place the cylindrical red drink can with logo in the basket with black handle and then lift the basket with black handle.", + "Take the metallic red beverage can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the rounded red Coca-Cola soda container, set it into the basket with black handle, then raise the basket with black handle.", + "Lift the Coca-Cola can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the small aluminum red drink can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the rounded red Coca-Cola soda container, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Place the metallic red beverage can inside the plastic basket, then lift the plastic basket.", + "Drop the metallic red beverage can into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Lift the red cylindrical can with silver top with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Pick the red cylindrical can with silver top with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to grab the hand-sized red can for drinks and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick the small aluminum red drink can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the rounded red Coca-Cola soda container, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab the red can with smooth metallic texture, put it in the basket with black handle, then raise the basket with black handle.", + "Hold the red cylindrical can with silver top using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red can with white lettering, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the red cylindrical can with silver top in the yellow basket and then use another arm to lift the yellow basket.", + "Pick the red cylindrical can with silver top with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the cylindrical red drink can with logo, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the red can with white Coca-Cola logo, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Lift the metallic red beverage can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the red can with white lettering, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick the Coca-Cola soda can, set it in the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the red can with white Coca-Cola logo, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the hand-sized red can for drinks, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the red can with white Coca-Cola logo, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the rounded red Coca-Cola soda container in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick up the metallic red beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the Coca-Cola can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the red cylindrical can with silver top, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the rounded red Coca-Cola soda container, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Pick up the rounded red Coca-Cola soda container using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the cylindrical red drink can with logo using the right arm, drop the cylindrical red drink can with logo into the basket with black handle and lift the basket with black handle.", + "Take the red can with smooth metallic texture, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the red can with white Coca-Cola logo, put it into the yellow basket, and lift the yellow basket with another arm.", + "Lift the red can with white lettering, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the red can with white Coca-Cola logo with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to hold the Coca-Cola soda can, drop the Coca-Cola soda can into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the smooth red can with silver bottom, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the right arm to pick the Coca-Cola soda can, place it inside the yellow basket, then lift the yellow basket.", + "Grab the red can with smooth metallic texture, place it in the yellow basket, and then lift the yellow basket.", + "Pick up the cylindrical red drink can with logo with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Use the right arm to take the metallic red beverage can, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red can with smooth metallic texture with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab and drop the hand-sized red can for drinks in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Take the red cylindrical can with silver top, set it into the yellow basket, and raise the yellow basket.", + "Grab the rounded red Coca-Cola soda container with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the cylindrical red drink can with logo, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Use the right arm for the hand-sized red can for drinks, place the hand-sized red can for drinks in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the hand-sized red can for drinks in the yellow basket and then lift the yellow basket.", + "Take the red cylindrical can with silver top and put it in the plastic basket, then lift the plastic basket.", + "Grab the red can with smooth metallic texture, set it into the plastic basket, then raise the plastic basket.", + "Lift the red can with white lettering, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the hand-sized red can for drinks, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the smooth red can with silver bottom, put it in the plastic basket, and carry the plastic basket afterward.", + "Place the red can with smooth metallic texture inside the bright yellow basket, then lift the bright yellow basket.", + "Drop the Coca-Cola can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Lift the hand-sized red can for drinks with the right arm, set it in the yellow basket, and lift with another arm." + ], + "unseen": [ + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f0b4c7f080d5ff629eeafe15db8235c48d118b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the white can with 3D RADY label in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Use the left arm to take the smooth white can with accents, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the beverage can with printed label in the left arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Lift the can with gold top lid, set it in the basket with black handle, and elevate the basket with black handle.", + "Lift the medium metal can, place it inside the plastic basket, and elevate the plastic basket.", + "Place the small white can with branding in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick the white can, set it in the yellow basket, then lift the yellow basket.", + "Pick up the smooth white can with accents, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the can with red-orange text, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the basket with black handle, then lift the basket with black handle.", + "Lift the can with red-orange text, place it in the plastic basket, and raise the plastic basket.", + "Take the can with sealed gold top, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the smooth white can with accents, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab the medium metal can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick the red-orange text on white can with the left arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the can with gold top lid with the left arm, set it in the yellow basket, and lift with another arm.", + "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the medium metal can using the left arm, drop the medium metal can into the basket with perforated sides and lift the basket with perforated sides.", + "Pick up the white can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the white can with 3D RADY label, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the small white can with branding, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Grab the cylindrical white glossy can, set it into the yellow basket, then raise the yellow basket.", + "Pick up the red-orange text on white can with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Use the left arm to grab the white can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the can with red-orange text using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the can with rounded cylindrical shape, put it in the handheld basket, then raise the handheld basket.", + "Pick the can with red-orange text with the left arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the smooth white can with accents, set it in the handheld basket, and lift the handheld basket upward.", + "Take the white can with the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the cylindrical white glossy can, place it in the handheld basket, and then lift the handheld basket.", + "Use the left arm to grab the can with gold top lid, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the small white can with branding, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick the medium metal can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the handheld basket, and lift the handheld basket.", + "Pick up the beverage can with printed label using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab and drop the beverage can with printed label in the bright yellow basket, lift the bright yellow basket.", + "Grab the small white can with branding with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the beverage can with printed label, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the can with sealed gold top, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Drop the white can with 3D RADY label into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Lift the small white can with branding, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Take the white can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Place the red-orange text on white can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the can with rounded cylindrical shape, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the white can with 3D RADY label, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Take the white can with 3D RADY label and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the same arm to grab the can with gold top lid, place in the handheld basket, and then lift the handheld basket.", + "Hold the can with red-orange text using the left arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the left arm to grab the medium metal can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the white can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the left arm to take the beverage can with printed label, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the medium metal can in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Lift the beverage can with printed label, set it in the handheld basket, and elevate the handheld basket.", + "Lift the can with gold top lid, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Place the white can with 3D RADY label in the basket with black handle and then lift the basket with black handle.", + "Pick the can with gold top lid, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the medium metal can, put it in the handheld basket, and lift the handheld basket.", + "Use the left arm to grab the small white can with branding, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Use the left arm to pick the medium metal can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the can with red-orange text, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the white can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the medium metal can, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the red-orange text on white can, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Pick the smooth white can with accents with the left arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the beverage can with printed label with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Pick up the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the small white can with branding, drop it into the yellow basket, and raise the yellow basket.", + "Grab the white can, place it in the plastic basket, and then lift the plastic basket.", + "Grab the smooth white can with accents, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Grab the can with red-orange text, set it into the yellow basket, then raise the yellow basket.", + "Pick up the can with gold top lid with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Use the left arm to grab the white can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Pick the beverage can with printed label using the left arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the can with rounded cylindrical shape, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Pick the can with sealed gold top with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick the can with sealed gold top, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Take the can with red-orange text with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the can with sealed gold top, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the left arm to grab the smooth white can with accents, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the white can, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Pick the can with gold top lid with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the beverage can with printed label using the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab and drop the can with sealed gold top in the bright yellow basket, lift the bright yellow basket.", + "Grab the can with red-orange text with the left arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the white can, place it into the plastic basket, then lift the plastic basket.", + "Pick up the medium metal can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Drop the smooth white can with accents into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Lift the white can, drop it into the yellow basket, then carry the yellow basket.", + "Take the can with sealed gold top, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the medium metal can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the beverage can with printed label, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab the white can with 3D RADY label, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Take the cylindrical white glossy can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Use the same arm to grab the small white can with branding, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Hold the can with sealed gold top using the left arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to grab the small white can with branding and place in the basket with black handle, lift the basket with black handle with another arm." + ], + "unseen": [ + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..8dddca8020b96a276637d6fc23a82b5de2ea0e0c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the cylindrical metal can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Hold the red soda can with green accents using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the red soda can with green accents, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the red soda can with green accents, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the red and white beverage can, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the metal can with red base, place it in the yellow basket, and lift the yellow basket upwards.", + "Use the right arm to take the red soda can with green accents, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the red and white beverage can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the drink can with smooth red finish, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the red shiny can with green label with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Lift the red soda can with green accents with the right arm, set it in the handheld basket, and lift with another arm.", + "Grab and drop the red shiny can with green label in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the red soda can with green accents, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the cylindrical metal can, put it in the basket with black handle, and lift the basket with black handle.", + "Pick up the smooth red can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the red soda can with green accents, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Place the cylindrical can with flat surfaces in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick up the cylindrical metal can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the can with flat silver bottom, place it in the basket with black handle, and then lift the basket with black handle.", + "Take the cylindrical metal can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the plastic basket, then lift the plastic basket.", + "Use the right arm to hold the red shiny can with green label, drop the red shiny can with green label into the basket with black handle, and lift the basket with black handle.", + "Use the same arm to grab the red shiny can with green label, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the can with flat silver bottom, set it in the yellow basket, and lift the yellow basket upward.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the drink can with smooth red finish, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Use the right arm to grab the medium-sized soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the rectangular yellow basket and lift the rectangular yellow basket.", + "Drop the red can with decorative label into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Pick the medium-sized soda can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the red can with decorative label, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Lift the red shiny can with green label, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Place the red drink can with white lid in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the metal can with red base and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the cylindrical metal can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the cylindrical metal can with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the smooth red can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the cylindrical metal can, place it in the handheld basket, and raise the handheld basket.", + "Pick the smooth red can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the red and white beverage can, place it in the plastic basket, and then lift the plastic basket.", + "Lift the drink can with smooth red finish, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick up the red drink can with white lid, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the metal can with red base using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the medium-sized soda can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the medium-sized soda can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the cylindrical can with flat surfaces with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Take the drink can with smooth red finish and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Take the medium-sized soda can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick the red soda can with green accents with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the right arm to grab the cylindrical metal can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Hold the medium-sized soda can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the red soda can with green accents, place it in the yellow basket, pick up the yellow basket afterward.", + "Lift the red and white beverage can, place it inside the plastic basket, and elevate the plastic basket.", + "Grab the drink can with smooth red finish, put it in the yellow basket, then raise the yellow basket.", + "Grab the cylindrical metal can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Use the right arm to take the red and white beverage can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the drink can with smooth red finish, drop it into the plastic basket, and raise the plastic basket.", + "Pick up the drink can with smooth red finish with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Lift the red and white beverage can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Grab and drop the metal can with red base in the basket with black handle, lift the basket with black handle.", + "Grab the red shiny can with green label, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick up the red soda can with green accents, put it in the basket with black handle, and lift the basket with black handle.", + "Pick up the red drink can with white lid, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red shiny can with green label, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Place the can with flat silver bottom in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick up the red and white beverage can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the smooth red can, place it in the yellow basket, and then lift the yellow basket.", + "Take the metal can with red base, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to pick the red shiny can with green label, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the same arm to grab the cylindrical can with flat surfaces, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the medium-sized soda can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the cylindrical can with flat surfaces, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Use the right arm to grab the red soda can with green accents, put it into the plastic basket, and lift the plastic basket with another arm.", + "Grab the red can with decorative label using the right arm, drop the red can with decorative label into the plastic basket and lift the plastic basket.", + "Drop the red and white beverage can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Pick the drink can with smooth red finish with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the can with flat silver bottom, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Lift the red and white beverage can, drop it into the basket with black handle, then carry the basket with black handle.", + "Place the cylindrical can with flat surfaces in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red soda can with green accents and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the smooth red can, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the drink can with smooth red finish with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the red and white beverage can, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the red shiny can with green label, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the red can with decorative label, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the medium-sized soda can, place it in the plastic basket, and then lift the plastic basket.", + "Lift the medium-sized soda can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Pick up the red drink can with white lid, place it into the plastic basket, then lift the plastic basket.", + "Pick the cylindrical can with flat surfaces using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm for the red can with decorative label, place the red can with decorative label in the yellow basket, and lift the yellow basket.", + "Place the drink can with smooth red finish inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red can with decorative label with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the red soda can with green accents with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the metal can with red base and put it in the handheld basket, then lift the handheld basket.", + "Take the red soda can with green accents in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick the drink can with smooth red finish with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm." + ], + "unseen": [ + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..53a6d5e58133d246a8e864258adf75151aa612d6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and drop the beverage can with red green graphics in the handheld basket, lift the handheld basket.", + "Use the left arm to pick the colorful can with lime and orange design, place it inside the yellow basket, then lift the yellow basket.", + "Pick up the can with red green label, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the metallic drink can with pull-tab, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the small soda can with lime graphics inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the red green beverage can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab the soda can with lime illustration, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Pick up the small soda can with lime graphics using the left arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Use the left arm to hold the red green beverage can, drop the red green beverage can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the same arm to grab the colorful can with lime and orange design, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the can with red green label, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Pick the soda can with lime illustration, set it in the plastic basket, and lift the plastic basket upward.", + "Pick the drink can with bright colors with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the metallic drink can with pull-tab, place it into the yellow basket, then lift the yellow basket.", + "Lift the can with red green label, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the metallic drink can with pull-tab, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick the green red metallic soda can using the left arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Place the green red metallic soda can in the basket with arched black grip and then lift the basket with arched black grip.", + "Lift the drink can with bright colors, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Pick up the green red metallic soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to take the can with red green label, drop it in the yellow basket, and lift the yellow basket.", + "Pick up the beverage can with red green graphics, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Hold the colorful can with lime and orange design using the left arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the soda can with lime illustration, set it into the plastic basket, then raise the plastic basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Take the metallic drink can with pull-tab with the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the red green beverage can using the left arm, drop the red green beverage can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Take the small soda can with lime graphics and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the green red metallic soda can, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red green can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Pick up the red green can with the left arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Lift the metal can with pull-tab top with the left arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Take the metallic drink can with pull-tab in the left arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Take the can with red green label, set it into the basket with black handle, and raise the basket with black handle.", + "Drop the can with red green label into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Grab the metal can with pull-tab top, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the smooth cylindrical can with lime pattern, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the metallic drink can with pull-tab, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the soda can with lime illustration with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the metallic drink can with pull-tab with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Place the soda can with lime illustration in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the left arm to grab the metal can with pull-tab top, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick the soda can with lime illustration with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the beverage can with red green graphics, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the left arm to grab the red green can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Use the left arm to grab the soda can with lime illustration and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the metallic drink can with pull-tab, place it inside the basket with black handle, and elevate the basket with black handle.", + "Use the left arm to grab the smooth cylindrical can with lime pattern, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm for the soda can with lime illustration, place the soda can with lime illustration in the plastic basket, and lift the plastic basket.", + "Take the soda can with lime illustration, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab and drop the red green beverage can in the handheld basket, lift the handheld basket.", + "Use the left arm to pick the beverage can with red green graphics, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the small soda can with lime graphics, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the beverage can with red green graphics, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the colorful can with lime and orange design inside the yellow basket, then lift the yellow basket.", + "Lift the red green can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab the soda can with lime illustration, place it in the plastic basket, and lift the plastic basket upwards.", + "Pick up the metallic drink can with pull-tab using the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the left arm to hold the red green can, drop the red green can into the plastic basket, and lift the plastic basket.", + "Use the same arm to grab the metal can with pull-tab top, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the beverage can with red green graphics, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick the green red metallic soda can, set it in the yellow basket, and lift the yellow basket upward.", + "Pick the smooth cylindrical can with lime pattern with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the red green beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the small soda can with lime graphics, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the red green can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the smooth cylindrical can with lime pattern using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Place the smooth cylindrical can with lime pattern in the basket with perforated sides and then lift the basket with perforated sides.", + "Lift the colorful can with lime and orange design, drop it into the handheld basket, then carry the handheld basket.", + "Pick up the metal can with pull-tab top, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the left arm to take the red green can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the metal can with pull-tab top, put it in the plastic basket, and lift the plastic basket.", + "Hold the green red metallic soda can using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the red green beverage can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the beverage can with red green graphics, drop it into the handheld basket, then use another arm for the handheld basket.", + "Take the drink can with bright colors with the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the drink can with bright colors using the left arm, drop the drink can with bright colors into the basket with perforated sides and lift the basket with perforated sides.", + "Take the beverage can with red green graphics and put it in the handheld basket, then lift the handheld basket.", + "Pick the small soda can with lime graphics, set it in the handheld basket, then lift the handheld basket.", + "Grab the soda can with lime illustration, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Pick up the soda can with lime illustration with the left arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Lift the soda can with lime illustration with the left arm, set it in the handheld basket, and lift with another arm.", + "Take the red green can in the left arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Take the metallic drink can with pull-tab, set it into the yellow basket, and raise the yellow basket.", + "Drop the green red metallic soda can into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm.", + "Grab the small soda can with lime graphics, put it in the bright yellow basket, then raise the bright yellow basket.", + "Grab the beverage can with red green graphics, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the can with red green label, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the small soda can with lime graphics with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the smooth cylindrical can with lime pattern with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Place the metal can with pull-tab top in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Use the left arm to grab the small soda can with lime graphics, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the soda can with lime illustration with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Lift the beverage can with red green graphics, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the left arm to grab the small soda can with lime graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the left arm to grab the small soda can with lime graphics and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the drink can with bright colors, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Use the left arm to grab the can with red green label, place it in the yellow basket, and lift the yellow basket.", + "Use the left arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the drink can with bright colors, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff." + ], + "unseen": [ + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..cd01e4b257000cbcf6a8995f636f8e20eebc3d10 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the brown can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the smooth light brown can, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Pick up the white patterned brown metal can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the smooth brown can with rounded edges, set it into the handheld basket, then raise the handheld basket.", + "Use the right arm for the metal can with white decorative designs, place the metal can with white decorative designs in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the small cylindrical drink container, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the metal can with white decorative designs, set it in the plastic basket, and elevate the plastic basket.", + "Hold the metal can with printed white graphics using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the smooth brown can with rounded edges, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the small cylindrical drink container and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab and drop the metal can with white decorative designs in the plastic basket, lift the plastic basket.", + "Use the right arm to grab the smooth brown can with rounded edges and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the smooth light brown can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Use the right arm to pick the white patterned brown metal can, place it inside the handheld basket, then lift the handheld basket.", + "Drop the hand-sized metallic can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the white patterned brown metal can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the same arm to grab the rounded metallic can, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Place the metal can with printed white graphics in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Grab the light brown can with smooth texture, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Take the smooth brown can with rounded edges in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the light brown can with smooth texture inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to take the light brown can with smooth texture, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the small light brown cylindrical can, place it inside the yellow basket, and elevate the yellow basket.", + "Lift the white patterned brown metal can, place it in the plastic basket, pick up the plastic basket afterward.", + "Take the white patterned brown metal can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the white patterned brown metal can with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to grab the small light brown cylindrical can, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the smooth light brown can, place it in the plastic basket, and raise the plastic basket.", + "Grab the white patterned brown metal can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Grab the metal can with white decorative designs using the right arm, drop the metal can with white decorative designs into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Grab the small cylindrical drink container, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the smooth light brown can, set it in the yellow basket, then lift the yellow basket.", + "Pick the hand-sized metallic can with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the smooth light brown can, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Grab the rounded metallic can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Grab the rounded metallic can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Use the right arm to grab the drink can with light brown shade, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Place the brown can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Pick the metal can with white decorative designs using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the metal can with white decorative designs, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the brown can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Use the right arm to hold the metal can with printed white graphics, drop the metal can with printed white graphics into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the metal can with white decorative designs with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Take the smooth brown can with rounded edges, set it into the yellow basket, and raise the yellow basket.", + "Pick up the hand-sized metallic can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the light brown can with smooth texture, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab the hand-sized metallic can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the metal can with printed white graphics with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick up the light brown can with smooth texture, put it in the handheld basket, and lift the handheld basket.", + "Pick the small cylindrical drink container with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the smooth light brown can, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick up the metal can with printed white graphics, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the smooth brown can with rounded edges, set it into the plastic basket, then raise the plastic basket.", + "Use the right arm for the rounded metallic can, place the rounded metallic can in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the brown can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the white patterned brown metal can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Hold the rounded metallic can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick the smooth brown can with rounded edges, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Take the small cylindrical drink container and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab and drop the smooth brown can with rounded edges in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the right arm to grab the white patterned brown metal can and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the drink can with light brown shade with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the right arm to pick the drink can with light brown shade, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Drop the white patterned brown metal can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the smooth brown can with rounded edges, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the same arm to grab the drink can with light brown shade, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the metal can with printed white graphics in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the light brown can with smooth texture, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the rounded metallic can in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick up the white patterned brown metal can using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Place the rounded metallic can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to take the small cylindrical drink container, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the metal can with white decorative designs, place it inside the basket with black handle, and elevate the basket with black handle.", + "Lift the rounded metallic can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Take the drink can with light brown shade, place it into the yellow basket, then lift the yellow basket.", + "Take the white patterned brown metal can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the drink can with light brown shade, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the smooth light brown can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the metal can with printed white graphics, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Grab the white patterned brown metal can using the right arm, drop the white patterned brown metal can into the basket with perforated sides and lift the basket with perforated sides.", + "Grab the rounded metallic can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the hand-sized metallic can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the metal can with printed white graphics with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the metal can with printed white graphics, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab the smooth light brown can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Grab the smooth brown can with rounded edges, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Use the right arm to grab the hand-sized metallic can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Place the metal can with white decorative designs in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the light brown can with smooth texture, put it into the yellow basket, and lift the yellow basket.", + "Lift the white patterned brown metal can, put it in the handheld basket, and carry the handheld basket afterward.", + "Use the right arm to hold the brown can, drop the brown can into the bright yellow basket, and lift the bright yellow basket.", + "Pick the metal can with white decorative designs with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Take the white patterned brown metal can, set it into the plastic basket, and raise the plastic basket.", + "Pick up the drink can with light brown shade, place it into the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the small light brown cylindrical can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Grab the white patterned brown metal can with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the rounded metallic can with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick up the metal can with white decorative designs, put it in the plastic basket, and lift the plastic basket." + ], + "unseen": [ + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..a64b75183ce46cdb5238061f7727dcb2c674e8c3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the Coca-Cola soda can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the cylindrical red drink can with logo with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab the cylindrical red drink can with logo with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to grab the small aluminum red drink can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the smooth red can with silver bottom, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Use the right arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the small aluminum red drink can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the yellow basket, and lift the yellow basket.", + "Lift the red cylindrical can with silver top, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the cylindrical red drink can with logo, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the cylindrical red drink can with logo, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the red can with white lettering, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Take the smooth red can with silver bottom in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Lift the cylindrical red drink can with logo with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick up the rounded red Coca-Cola soda container, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the smooth red can with silver bottom, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the red cylindrical can with silver top, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to take the rounded red Coca-Cola soda container, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the Coca-Cola soda can, place it into the handheld basket, then lift the handheld basket.", + "Place the Coca-Cola soda can in the plastic basket and then lift the plastic basket.", + "Take the smooth red can with silver bottom and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the rounded red Coca-Cola soda container, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the cylindrical red drink can with logo using the right arm, drop the cylindrical red drink can with logo into the basket with arched black grip and lift the basket with arched black grip.", + "Pick up the Coca-Cola soda can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Use the right arm to pick the red can with white lettering, place it inside the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the hand-sized red can for drinks, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Pick the red can with smooth metallic texture using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the Coca-Cola soda can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick the red cylindrical can with silver top with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the small aluminum red drink can, set it into the plastic basket, then raise the plastic basket.", + "Use the right arm to grab the metallic red beverage can, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the small aluminum red drink can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the Coca-Cola soda can using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the rounded red Coca-Cola soda container, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick the cylindrical red drink can with logo with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the red cylindrical can with silver top, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the smooth red can with silver bottom, place it into the plastic basket, then lift the plastic basket.", + "Grab the red can with white Coca-Cola logo, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Lift the Coca-Cola soda can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Place the Coca-Cola soda can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the same arm to grab the small aluminum red drink can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Hold the rounded red Coca-Cola soda container using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab and drop the smooth red can with silver bottom in the handheld basket, lift the handheld basket.", + "Grab the hand-sized red can for drinks, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick up the Coca-Cola soda can, put it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the red can with white lettering, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Grab the Coca-Cola can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the cylindrical red drink can with logo, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the red can with white lettering, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Drop the metallic red beverage can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Place the rounded red Coca-Cola soda container inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the Coca-Cola soda can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab the smooth red can with silver bottom with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the rounded red Coca-Cola soda container and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the Coca-Cola can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Use the right arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the red can with white Coca-Cola logo with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the red can with smooth metallic texture, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the rounded red Coca-Cola soda container, place it in the plastic basket, and lift the plastic basket upwards.", + "Lift the smooth red can with silver bottom, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the red cylindrical can with silver top, set it in the basket with black handle, and lift the basket with black handle upward.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Lift the red can with white Coca-Cola logo with the right arm, set it in the handheld basket, and lift with another arm.", + "Pick up the smooth red can with silver bottom, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the Coca-Cola can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the red cylindrical can with silver top, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to take the rounded red Coca-Cola soda container, drop it in the basket with black handle, and lift the basket with black handle.", + "Pick up the hand-sized red can for drinks, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the red can with smooth metallic texture in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Take the cylindrical red drink can with logo and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the hand-sized red can for drinks, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the metallic red beverage can using the right arm, drop the metallic red beverage can into the handheld basket and lift the handheld basket.", + "Pick up the cylindrical red drink can with logo with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Use the right arm to pick the rounded red Coca-Cola soda container, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red can with white lettering, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Pick the red cylindrical can with silver top using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the metallic red beverage can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the small aluminum red drink can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the red cylindrical can with silver top, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Use the right arm to grab the red can with white lettering, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the metallic red beverage can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the smooth red can with silver bottom using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the red can with white Coca-Cola logo, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Pick the red can with smooth metallic texture with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the rounded red Coca-Cola soda container, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the red can with smooth metallic texture, place it into the handheld basket, then lift the handheld basket.", + "Grab the rounded red Coca-Cola soda container, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the metallic red beverage can, drop it into the plastic basket, then carry the plastic basket.", + "Place the rounded red Coca-Cola soda container in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the same arm to grab the red can with white Coca-Cola logo, place in the handheld basket, and then lift the handheld basket.", + "Hold the cylindrical red drink can with logo using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab and drop the red can with white lettering in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Grab the red can with smooth metallic texture, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick up the red can with white Coca-Cola logo, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the small aluminum red drink can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the red can with smooth metallic texture, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the Coca-Cola can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth red can with silver bottom, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Drop the red can with white Coca-Cola logo into the basket with black handle using the right arm, then lift the basket with black handle with another arm." + ], + "unseen": [ + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..691e92adc97a1df4c47768c6aa0138990876d7a8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the white can with 3D RADY label, drop it in the basket for holding items, and lift the basket for holding items.", + "Pick up the can with rounded cylindrical shape, place it in the woven basket, and then lift the woven basket.", + "Take the small white can with branding, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the smooth white can with accents with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Grab the medium metal can, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the white can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Use the left arm to grab the white can with 3D RADY label, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Place the small white can with branding inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the can with gold top lid with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Take the small white can with branding and put it in the light brown oval basket, then lift the light brown oval basket.", + "Pick up the white can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the white can with 3D RADY label in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the white can using the left arm, drop the white can into the light brown oval basket and lift the light brown oval basket.", + "Lift the white can with 3D RADY label, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Pick the small white can with branding using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the can with gold top lid, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Take the small white can with branding with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the white can with 3D RADY label and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Use the left arm to grab the red-orange text on white can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to pick the white can with 3D RADY label, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the can with gold top lid, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the medium metal can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the can with red-orange text with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Hold the red-orange text on white can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the beverage can with printed label, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the medium metal can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Lift the medium metal can, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Lift the can with red-orange text, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the basket with loop handle, and lift the basket with loop handle.", + "Grab the white can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Pick up the red-orange text on white can, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the light brown oval basket, and lift the light brown oval basket.", + "Grab the small white can with branding, place it in the woven basket, and then lift the woven basket.", + "Pick up the cylindrical white glossy can, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Drop the white can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Pick up the can with rounded cylindrical shape, put it in the brown basket, and lift the brown basket.", + "Lift the can with red-orange text, put it in the basket with handle, and carry the basket with handle afterward.", + "Use the left arm to grab the can with red-orange text, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Use the same arm to grab the cylindrical white glossy can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the small white can with branding, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Place the small white can with branding in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the medium metal can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Lift the small white can with branding, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Grab and drop the red-orange text on white can in the basket with loop handle, lift the basket with loop handle.", + "Grab the medium metal can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the red-orange text on white can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Pick the small white can with branding with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Place the cylindrical white glossy can in the basket with loop handle and then lift the basket with loop handle.", + "Use the left arm to take the beverage can with printed label, drop it in the basket for holding items, and lift the basket for holding items.", + "Pick up the smooth white can with accents, place it in the brown basket, and then lift the brown basket.", + "Take the red-orange text on white can, place it into the brown basket, then lift the brown basket.", + "Lift the can with rounded cylindrical shape with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Grab the white can, drop it into the woven basket, and raise the woven basket.", + "Pick the medium metal can, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Use the left arm to grab the cylindrical white glossy can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Place the cylindrical white glossy can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the medium metal can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Take the beverage can with printed label and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the can with red-orange text using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Take the white can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with handle and lift the basket with handle.", + "Lift the medium metal can, place it in the brown basket, pick up the brown basket afterward.", + "Pick the smooth white can with accents using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the can with gold top lid, set it into the basket with loop handle, and raise the basket with loop handle.", + "Take the can with sealed gold top with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the left arm to grab the smooth white can with accents and place in the woven basket, lift the woven basket with another arm.", + "Use the left arm to grab the can with gold top lid, place it in the basket with handle, and lift the basket with handle.", + "Use the left arm to pick the red-orange text on white can, place it inside the woven basket, then lift the woven basket.", + "Pick up the smooth white can with accents, put it into the basket for carrying things, and lift the basket for carrying things.", + "Grab the small white can with branding with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick the beverage can with printed label with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Hold the can with gold top lid using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the white can, set it in the brown basket, then lift the brown basket.", + "Lift the can with rounded cylindrical shape, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the white can with 3D RADY label, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Lift the can with sealed gold top, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the left arm for the can with red-orange text, place the can with red-orange text in the woven basket, and lift the woven basket.", + "Grab the can with gold top lid, place it in the brown basket, and lift the brown basket upwards.", + "Pick up the white can with 3D RADY label, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket with loop handle, and lift the basket with loop handle.", + "Grab the beverage can with printed label, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the red-orange text on white can, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the red-orange text on white can, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Drop the red-orange text on white can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Pick up the can with gold top lid, put it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the can with rounded cylindrical shape, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Use the left arm to grab the can with gold top lid, put it into the woven basket, and lift the woven basket with another arm.", + "Use the same arm to grab the red-orange text on white can, place in the woven basket, and then lift the woven basket.", + "Grab the cylindrical white glossy can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Place the medium metal can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Grab the white can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick up the white can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Lift the cylindrical white glossy can, drop it into the basket for holding items, then carry the basket for holding items.", + "Grab and drop the can with rounded cylindrical shape in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Grab the can with sealed gold top, put it in the basket for holding items, then raise the basket for holding items.", + "Grab the white can with 3D RADY label, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Pick the white can with 3D RADY label with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Place the medium metal can in the wooden basket with curved handle and then lift the wooden basket with curved handle." + ], + "unseen": [ + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..0febb996009a8ff8eee2b2e7094abc1b6eae856d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal can with white decorative designs, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Pick up the small cylindrical drink container using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the left arm to hold the smooth light brown can, drop the smooth light brown can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the rounded metallic can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to grab the small cylindrical drink container, place it in the brown basket, and lift the brown basket.", + "Grab the smooth light brown can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the small light brown cylindrical can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Use the left arm for the hand-sized metallic can, place the hand-sized metallic can in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the drink can with light brown shade, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick the smooth brown can with rounded edges with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick the hand-sized metallic can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the small cylindrical drink container in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Place the small light brown cylindrical can inside the basket with handle, then lift the basket with handle.", + "Grab the smooth brown can with rounded edges, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Grab the light brown can with smooth texture, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick the smooth light brown can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the small light brown cylindrical can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the hand-sized metallic can using the left arm, drop the hand-sized metallic can into the basket for carrying things and lift the basket for carrying things.", + "Grab the white patterned brown metal can, place it in the woven basket, and raise the woven basket using the other arm.", + "Use the left arm to grab the drink can with light brown shade and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Take the rounded metallic can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Take the small light brown cylindrical can and put it in the basket with loop handle, then lift the basket with loop handle.", + "Pick the brown can, set it in the brown basket, and lift the brown basket upward.", + "Pick up the light brown can with smooth texture, put it in the brown basket, and lift the brown basket.", + "Use the left arm to take the small light brown cylindrical can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Place the small light brown cylindrical can in the basket with loop handle and then lift the basket with loop handle.", + "Grab the smooth brown can with rounded edges, drop it into the basket for holding items, and raise the basket for holding items.", + "Hold the rounded metallic can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the small light brown cylindrical can with the left arm, set it in the brown basket, and lift with another arm.", + "Take the small cylindrical drink container with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the small light brown cylindrical can, place it in the brown basket, pick up the brown basket afterward.", + "Use the left arm to pick the smooth light brown can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the smooth brown can with rounded edges, place it in the basket for carrying things, and raise the basket for carrying things.", + "Lift the light brown can with smooth texture, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Pick the rounded metallic can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick up the smooth brown can with rounded edges with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Pick up the small light brown cylindrical can, place it in the basket for holding items, and then lift the basket for holding items.", + "Lift the small cylindrical drink container, drop it into the basket with handle, then carry the basket with handle.", + "Take the smooth light brown can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the small cylindrical drink container, place it into the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the metal can with printed white graphics, place in the basket for holding items, and then lift the basket for holding items.", + "Pick the drink can with light brown shade using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Lift the metal can with white decorative designs, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Grab the smooth light brown can, place it in the woven basket, and then lift the woven basket.", + "Grab the brown can, place it in the basket with handle, and lift the basket with handle upwards.", + "Grab and drop the brown can in the basket with handle, lift the basket with handle.", + "Use the left arm to grab the white patterned brown metal can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Take the metal can with printed white graphics, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Drop the small cylindrical drink container into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.", + "Lift the metal can with white decorative designs, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Grab the metal can with printed white graphics, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick up the hand-sized metallic can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the left arm to hold the small light brown cylindrical can, drop the small light brown cylindrical can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the small light brown cylindrical can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the drink can with light brown shade, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the smooth brown can with rounded edges with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the smooth light brown can, put it in the brown basket, then raise the brown basket.", + "Use the left arm for the brown can, place the brown can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to grab the smooth brown can with rounded edges, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Pick the rounded metallic can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the metal can with printed white graphics, set it in the light brown oval basket, then lift the light brown oval basket.", + "Place the smooth light brown can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Place the metal can with white decorative designs inside the basket for holding items, then lift the basket for holding items.", + "Grab the small cylindrical drink container, drop it into the woven basket, then use another arm for the woven basket.", + "Grab the smooth brown can with rounded edges, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick the white patterned brown metal can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick up the rounded metallic can, put it into the woven basket, and lift the woven basket.", + "Grab the brown can using the left arm, drop the brown can into the light brown oval basket and lift the light brown oval basket.", + "Grab the metal can with white decorative designs, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Use the left arm to grab the metal can with white decorative designs and place in the brown basket, lift the brown basket with another arm.", + "Take the metal can with white decorative designs in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Take the light brown can with smooth texture and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the white patterned brown metal can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Pick up the brown can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to take the white patterned brown metal can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the smooth light brown can in the basket for carrying things and then lift the basket for carrying things.", + "Grab the metal can with white decorative designs, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Hold the light brown can with smooth texture using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the light brown can with smooth texture with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Take the smooth brown can with rounded edges with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the rounded metallic can, place it in the basket with handle, pick up the basket with handle afterward.", + "Use the left arm to pick the hand-sized metallic can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the brown can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Lift the smooth light brown can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the small cylindrical drink container with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick up the white patterned brown metal can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Pick up the drink can with light brown shade, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the white patterned brown metal can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Take the metal can with printed white graphics, place it into the woven basket, then lift the woven basket.", + "Pick up the small light brown cylindrical can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the smooth light brown can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick the small cylindrical drink container using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Lift the smooth brown can with rounded edges, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Grab the small cylindrical drink container, place it in the basket with handle, and then lift the basket with handle.", + "Grab the light brown can with smooth texture, place it in the brown basket, and lift the brown basket upwards.", + "Grab and drop the metal can with printed white graphics in the light brown oval basket, lift the light brown oval basket.", + "Use the left arm to grab the white patterned brown metal can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Take the light brown can with smooth texture, set it into the basket with handle, and raise the basket with handle.", + "Drop the white patterned brown metal can into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Lift the metal can with white decorative designs, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..0bdd577e53f6892482911dd44d70f2cd77a88cc3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded metallic can, set it into the plastic basket, then raise the plastic basket.", + "Use the left arm to grab the small cylindrical drink container, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Pick the metal can with white decorative designs with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the white patterned brown metal can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the small cylindrical drink container, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the white patterned brown metal can, set it in the handheld basket, and elevate the handheld basket.", + "Take the metal can with white decorative designs in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick the light brown can with smooth texture with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Drop the small light brown cylindrical can into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the left arm to take the white patterned brown metal can, drop it in the yellow basket, and lift the yellow basket.", + "Hold the small cylindrical drink container using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the small cylindrical drink container with the left arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the hand-sized metallic can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Grab the white patterned brown metal can, place it in the plastic basket, and then lift the plastic basket.", + "Take the light brown can with smooth texture and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the white patterned brown metal can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Take the brown can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the metal can with printed white graphics, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick the metal can with printed white graphics, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the white patterned brown metal can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Use the left arm to grab the brown can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the light brown can with smooth texture, set it into the handheld basket, and raise the handheld basket.", + "Grab the small light brown cylindrical can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the hand-sized metallic can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Take the small light brown cylindrical can with the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the left arm to grab the small cylindrical drink container, place it in the handheld basket, and lift the handheld basket.", + "Use the left arm for the drink can with light brown shade, place the drink can with light brown shade in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the drink can with light brown shade, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the small light brown cylindrical can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the drink can with light brown shade, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab and drop the rounded metallic can in the basket with perforated sides, lift the basket with perforated sides.", + "Pick up the brown can, set it inside the basket with black handle, then lift the basket with black handle.", + "Place the hand-sized metallic can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the rounded metallic can with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Use the left arm to pick the small light brown cylindrical can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the same arm to grab the brown can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the brown can, drop it into the yellow basket, and raise the yellow basket.", + "Pick up the rounded metallic can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the hand-sized metallic can using the left arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the light brown can with smooth texture, put it in the yellow basket, and carry the yellow basket afterward.", + "Lift the smooth brown can with rounded edges, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the left arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the left arm to grab the smooth light brown can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the smooth brown can with rounded edges, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Place the brown can in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Grab the smooth light brown can using the left arm, drop the smooth light brown can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Pick up the drink can with light brown shade with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick the brown can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Place the rounded metallic can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick the metal can with white decorative designs using the left arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the small light brown cylindrical can, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the left arm to grab the small light brown cylindrical can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the white patterned brown metal can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick up the drink can with light brown shade, put it into the plastic basket, and lift the plastic basket.", + "Lift the small light brown cylindrical can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Lift the small light brown cylindrical can, set it in the yellow basket, and elevate the yellow basket.", + "Take the smooth brown can with rounded edges in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick the rounded metallic can with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Drop the smooth brown can with rounded edges into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Use the left arm to take the rounded metallic can, drop it in the basket with black handle, and lift the basket with black handle.", + "Hold the small cylindrical drink container using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the hand-sized metallic can with the left arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the white patterned brown metal can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the white patterned brown metal can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Take the smooth brown can with rounded edges and put it in the basket with black handle, then lift the basket with black handle.", + "Pick up the white patterned brown metal can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the brown can, place it into the plastic basket, then lift the plastic basket.", + "Grab the smooth light brown can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Pick the small light brown cylindrical can, set it in the plastic basket, then lift the plastic basket.", + "Grab the drink can with light brown shade, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Use the left arm to grab the small cylindrical drink container, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Take the drink can with light brown shade, set it into the handheld basket, and raise the handheld basket.", + "Grab the small light brown cylindrical can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Grab the light brown can with smooth texture, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Take the metal can with white decorative designs with the left arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the left arm to grab the smooth brown can with rounded edges, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm for the smooth light brown can, place the smooth light brown can in the basket with black handle, and lift the basket with black handle.", + "Pick up the light brown can with smooth texture, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the white patterned brown metal can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the hand-sized metallic can, put it in the yellow basket, then raise the yellow basket.", + "Grab and drop the white patterned brown metal can in the basket with perforated sides, lift the basket with perforated sides.", + "Pick up the brown can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Place the metal can with printed white graphics inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the drink can with light brown shade with the left arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Use the left arm to pick the white patterned brown metal can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the same arm to grab the light brown can with smooth texture, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the small light brown cylindrical can, drop it into the plastic basket, and raise the plastic basket.", + "Pick up the metal can with printed white graphics, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the small cylindrical drink container using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the metal can with printed white graphics, put it in the handheld basket, and carry the handheld basket afterward.", + "Lift the smooth brown can with rounded edges, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Use the left arm to hold the small light brown cylindrical can, drop the small light brown cylindrical can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to grab the hand-sized metallic can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the small light brown cylindrical can, place it inside the yellow basket, and elevate the yellow basket.", + "Place the rounded metallic can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Grab the smooth light brown can using the left arm, drop the smooth light brown can into the plastic basket and lift the plastic basket.", + "Pick up the smooth light brown can with the left arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Pick the hand-sized metallic can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Place the light brown can with smooth texture in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick the rounded metallic can using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm." + ], + "unseen": [ + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..9bececde8d1f04929699c56e3eb19721d387676f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the rounded red Coca-Cola soda container in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Place the red can with smooth metallic texture inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the red can with smooth metallic texture, put it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the metallic red beverage can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Lift the smooth red can with silver bottom, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Grab the red can with white Coca-Cola logo, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the left arm to grab the red can with white lettering, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the hand-sized red can for drinks, place it in the woven basket, and lift the woven basket upwards.", + "Grab the hand-sized red can for drinks, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the metallic red beverage can, put it into the basket for holding items, and lift the basket for holding items.", + "Grab the rounded red Coca-Cola soda container, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Pick up the red can with white lettering, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the red can with smooth metallic texture using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the red can with white lettering with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the hand-sized red can for drinks, place it in the basket for carrying things, and raise the basket for carrying things.", + "Take the hand-sized red can for drinks, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm for the red can with white lettering, place the red can with white lettering in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the red cylindrical can with silver top, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Lift the red can with smooth metallic texture, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Use the left arm to hold the smooth red can with silver bottom, drop the smooth red can with silver bottom into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the Coca-Cola soda can in the basket for holding items and then lift the basket for holding items.", + "Lift the smooth red can with silver bottom, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick up the red cylindrical can with silver top with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab and drop the rounded red Coca-Cola soda container in the woven basket, lift the woven basket.", + "Pick up the red can with white lettering, place it into the basket with loop handle, then lift the basket with loop handle.", + "Lift the red can with white lettering, put it in the woven basket, and carry the woven basket afterward.", + "Grab the smooth red can with silver bottom using the left arm, drop the smooth red can with silver bottom into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the smooth red can with silver bottom, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick the red cylindrical can with silver top using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the left arm to take the cylindrical red drink can with logo, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Take the red can with white lettering, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the red can with white Coca-Cola logo, set it in the woven basket, then lift the woven basket.", + "Use the same arm to grab the red cylindrical can with silver top, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the red can with white lettering, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Drop the small aluminum red drink can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Take the Coca-Cola soda can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the small aluminum red drink can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the red can with smooth metallic texture with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the red can with white lettering, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Lift the metallic red beverage can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Use the left arm to grab the cylindrical red drink can with logo and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick up the red cylindrical can with silver top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the small aluminum red drink can, set it into the basket with handle, then raise the basket with handle.", + "Pick the smooth red can with silver bottom with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the Coca-Cola soda can, put it in the basket for holding items, then raise the basket for holding items.", + "Pick the metallic red beverage can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Hold the red can with white lettering using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to pick the smooth red can with silver bottom, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the hand-sized red can for drinks and put it in the light brown oval basket, then lift the light brown oval basket.", + "Place the rounded red Coca-Cola soda container in the basket for holding items and then use another arm to lift the basket for holding items.", + "Take the red can with white lettering in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Place the smooth red can with silver bottom inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the hand-sized red can for drinks, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the metallic red beverage can with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Lift the red can with white lettering, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Grab the Coca-Cola soda can, place it in the basket for holding items, and then lift the basket for holding items.", + "Use the left arm to grab the red can with white Coca-Cola logo, place it in the basket for holding items, and lift the basket for holding items.", + "Grab the red can with white lettering, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Grab the red cylindrical can with silver top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the red can with smooth metallic texture, put it into the basket with handle, and lift the basket with handle.", + "Grab the hand-sized red can for drinks, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick up the small aluminum red drink can, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the red can with white Coca-Cola logo using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the cylindrical red drink can with logo with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the Coca-Cola can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Take the red can with smooth metallic texture, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the woven basket, and lift the woven basket.", + "Grab the metallic red beverage can, place it in the woven basket, and raise the woven basket using the other arm.", + "Lift the red can with white Coca-Cola logo, set it in the basket with handle, and elevate the basket with handle.", + "Use the left arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the basket with handle, and lift the basket with handle.", + "Place the red can with white Coca-Cola logo in the basket with handle and then lift the basket with handle.", + "Lift the red can with white lettering, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Pick up the small aluminum red drink can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Grab and drop the cylindrical red drink can with logo in the woven basket, lift the woven basket.", + "Pick up the rounded red Coca-Cola soda container, place it into the brown basket, then lift the brown basket.", + "Lift the cylindrical red drink can with logo, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Grab the Coca-Cola can using the left arm, drop the Coca-Cola can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the metallic red beverage can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the red can with white Coca-Cola logo using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm to take the red can with white lettering, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the red cylindrical can with silver top, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the red cylindrical can with silver top, set it in the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the red can with white lettering, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the smooth red can with silver bottom, set it in the basket for holding items, and lift the basket for holding items upward.", + "Drop the red can with white Coca-Cola logo into the woven basket using the left arm, then lift the woven basket with another arm.", + "Take the small aluminum red drink can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the smooth red can with silver bottom, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Grab the Coca-Cola can with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the Coca-Cola soda can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Lift the small aluminum red drink can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the left arm to grab the smooth red can with silver bottom and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Pick up the cylindrical red drink can with logo, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the red can with white lettering, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick the rounded red Coca-Cola soda container with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Grab the red can with smooth metallic texture, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick the hand-sized red can for drinks with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Hold the Coca-Cola soda can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to pick the cylindrical red drink can with logo, place it inside the basket for holding items, then lift the basket for holding items.", + "Take the small aluminum red drink can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the red cylindrical can with silver top in the basket made of woven wood and then use another arm to lift the basket made of woven wood." + ], + "unseen": [ + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..70e0e688781b9b3dd06fbf96ea88606d667edc73 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bright red drink container can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick up the red can with gold illustrations, put it into the woven basket, and lift the woven basket.", + "Lift the red and gold cylindrical can, place it in the woven basket, and raise the woven basket.", + "Use the right arm to take the smooth red soda can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the smooth red soda can using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the metallic soda can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the metallic can with rounded edges, drop it into the brown basket, and raise the brown basket.", + "Pick up the metallic soda can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab and drop the red beverage can with curved top in the woven basket, lift the woven basket.", + "Pick the red can with gold illustrations with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the right arm to grab the compact metal drink can, place it into the brown basket, and lift the brown basket using the other arm.", + "Pick the bright red drink container can with the right arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Grab the smooth red soda can, drop it into the woven basket, then use another arm for the woven basket.", + "Pick up the compact metal drink can, place it into the basket for holding items, then lift the basket for holding items.", + "Lift the red and gold cylindrical can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Take the metallic soda can in the right arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Lift the metallic can with rounded edges, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Use the right arm to grab the metallic can with rounded edges, put it into the woven basket, and lift the woven basket with another arm.", + "Pick the gold-decorated aluminum can, set it in the basket with handle, then lift the basket with handle.", + "Lift the gold-decorated aluminum can with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Place the compact metal drink can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the red can, place it inside the basket for holding items, and elevate the basket for holding items.", + "Pick up the red and gold cylindrical can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the compact metal drink can, set it into the woven basket, then raise the woven basket.", + "Pick up the gold patterned beverage can using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the right arm to pick the gold patterned beverage can, place it inside the brown basket, then lift the brown basket.", + "Use the right arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the brown basket, and lift the brown basket.", + "Use the same arm to grab the palm-sized drink can, place in the brown basket, and then lift the brown basket.", + "Place the red and gold cylindrical can in the woven basket and then use another arm to lift the woven basket.", + "Pick up the red can with gold illustrations, put it in the basket for holding items, and lift the basket for holding items.", + "Take the palm-sized drink can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the bright red drink container can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Grab the red and gold cylindrical can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Grab the red beverage can with curved top, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the red and gold cylindrical can, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the basket made of woven wood and lift the basket made of woven wood.", + "Grab the red can with gold illustrations with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Drop the red can into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Pick up the metallic soda can with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Take the palm-sized drink can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to grab the smooth red soda can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the metallic soda can in the woven basket and then lift the woven basket.", + "Grab the bright red drink container can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Lift the gold-decorated aluminum can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the right arm to grab the red and gold cylindrical can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Hold the red can using the right arm, place it in the basket for holding items, and lift the basket for holding items.", + "Take the red and gold cylindrical can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Take the smooth red soda can with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Lift the red can, drop it into the basket with handle, then carry the basket with handle.", + "Pick the red can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the gold-decorated aluminum can, put it into the basket with handle, and lift the basket with handle.", + "Lift the metallic soda can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to take the palm-sized drink can, drop it in the woven basket, and lift the woven basket.", + "Pick the red can with gold illustrations using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the compact metal drink can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the gold-decorated aluminum can, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Pick up the red can with gold illustrations, place it in the brown basket, and then lift the brown basket.", + "Grab and drop the metallic can with rounded edges in the brown basket, lift the brown basket.", + "Pick the gold-decorated aluminum can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Use the right arm to grab the gold-decorated aluminum can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Pick the palm-sized drink can with the right arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Grab the red and gold cylindrical can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick up the metallic can with rounded edges, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the palm-sized drink can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Take the compact metal drink can in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the smooth red soda can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick the red and gold cylindrical can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the red can with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Place the red can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the red beverage can with curved top, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Pick up the palm-sized drink can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red and gold cylindrical can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick up the red can with gold illustrations using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the right arm to pick the gold patterned beverage can, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the light brown oval basket, and lift the light brown oval basket.", + "Use the same arm to grab the red can, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Place the gold-decorated aluminum can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick up the palm-sized drink can, put it in the basket for holding items, and lift the basket for holding items.", + "Take the metallic can with rounded edges and put it in the woven basket, then lift the woven basket.", + "Grab the smooth red soda can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Grab the palm-sized drink can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab the gold-decorated aluminum can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Use the right arm for the gold patterned beverage can, place the gold patterned beverage can in the basket with handle, and lift the basket with handle.", + "Pick the gold patterned beverage can, set it in the brown basket, and lift the brown basket upward.", + "Grab the metallic soda can using the right arm, drop the metallic soda can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Grab the metallic soda can with the right arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Drop the compact metal drink can into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Pick up the red can with the right arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Take the metallic soda can, set it into the basket for carrying things, and raise the basket for carrying things.", + "Use the right arm to grab the smooth red soda can, place it in the brown basket, and lift the brown basket.", + "Place the red can in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Grab the metallic soda can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Lift the red can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the right arm to grab the red can with gold illustrations and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Hold the metallic can with rounded edges using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the red can with gold illustrations, place it into the basket for holding items, then lift the basket for holding items.", + "Take the red can with gold illustrations with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the red can with gold illustrations, drop it into the basket for holding items, then carry the basket for holding items." + ], + "unseen": [ + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e5db53d9c188f778cec604f6a25c866cece49ac5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the green red metallic soda can, drop it into the basket with handle, then carry the basket with handle.", + "Grab the metallic drink can with pull-tab, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to grab the can with red green label, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Lift the red green can with the left arm, set it in the basket with handle, and lift with another arm.", + "Pick the beverage can with red green graphics with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Place the colorful can with lime and orange design in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Pick up the smooth cylindrical can with lime pattern, put it into the light brown oval basket, and lift the light brown oval basket.", + "Pick up the small soda can with lime graphics, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the small soda can with lime graphics, drop it into the woven basket, and raise the woven basket.", + "Pick the soda can with lime illustration, set it in the basket with handle, and lift the basket with handle upward.", + "Pick up the green red metallic soda can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Hold the soda can with lime illustration using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the colorful can with lime and orange design, set it in the basket for holding items, and elevate the basket for holding items.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the basket for carrying things, and then lift the basket for carrying things.", + "Use the left arm to grab the soda can with lime illustration and place in the basket for holding items, lift the basket for holding items with another arm.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the red green beverage can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab the beverage can with red green graphics using the left arm, drop the beverage can with red green graphics into the brown basket and lift the brown basket.", + "Take the red green beverage can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Take the drink can with bright colors, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Place the metal can with pull-tab top in the brown basket and then lift the brown basket.", + "Pick up the red green beverage can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the soda can with lime illustration, place it in the basket with handle, and lift the basket with handle upwards.", + "Lift the smooth cylindrical can with lime pattern, put it in the basket with handle, and carry the basket with handle afterward.", + "Use the left arm for the green red metallic soda can, place the green red metallic soda can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the red green can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick the red green can, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the smooth cylindrical can with lime pattern, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Grab and drop the metal can with pull-tab top in the woven basket, lift the woven basket.", + "Use the left arm to hold the beverage can with red green graphics, drop the beverage can with red green graphics into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the soda can with lime illustration, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Pick up the metal can with pull-tab top, put it in the basket with handle, and lift the basket with handle.", + "Take the red green beverage can and put it in the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to take the small soda can with lime graphics, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the soda can with lime illustration with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the smooth cylindrical can with lime pattern with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the red green can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Use the left arm to grab the can with red green label, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Take the metallic drink can with pull-tab, set it into the basket for holding items, and raise the basket for holding items.", + "Drop the small soda can with lime graphics into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Lift the green red metallic soda can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the drink can with bright colors using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the red green beverage can, put it in the brown basket, then raise the brown basket.", + "Pick up the colorful can with lime and orange design using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the left arm to pick the can with red green label, place it inside the brown basket, then lift the brown basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Place the can with red green label inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the small soda can with lime graphics, place it in the basket for carrying things, and raise the basket for carrying things.", + "Lift the beverage can with red green graphics, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Grab the red green beverage can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the drink can with bright colors, place it into the woven basket, then lift the woven basket.", + "Use the left arm to grab the beverage can with red green graphics, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Lift the metallic drink can with pull-tab with the left arm, set it in the basket made of woven wood, and lift with another arm.", + "Pick the colorful can with lime and orange design with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Place the small soda can with lime graphics in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick up the red green beverage can, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the smooth cylindrical can with lime pattern, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the colorful can with lime and orange design, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick the metallic drink can with pull-tab, set it in the basket with handle, and lift the basket with handle upward.", + "Pick up the drink can with bright colors with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Hold the green red metallic soda can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Take the can with red green label in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Lift the colorful can with lime and orange design, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Use the same arm to grab the metal can with pull-tab top, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the red green beverage can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Use the left arm to grab the red green can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the colorful can with lime and orange design with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Grab the metal can with pull-tab top using the left arm, drop the metal can with pull-tab top into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Take the metallic drink can with pull-tab with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the red green beverage can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the drink can with bright colors in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Pick up the red green beverage can, set it inside the basket with handle, then lift the basket with handle.", + "Grab the red green beverage can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Lift the metallic drink can with pull-tab, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Use the left arm for the red green beverage can, place the red green beverage can in the basket for carrying things, and lift the basket for carrying things.", + "Grab the red green beverage can, place it in the brown basket, and then lift the brown basket.", + "Pick the can with red green label, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the small soda can with lime graphics, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Grab and drop the red green beverage can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Use the left arm to hold the red green can, drop the red green can into the basket with loop handle, and lift the basket with loop handle.", + "Grab the beverage can with red green graphics, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Pick up the colorful can with lime and orange design, put it in the basket for carrying things, and lift the basket for carrying things.", + "Take the colorful can with lime and orange design and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to take the green red metallic soda can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the metal can with pull-tab top with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick the red green can with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the red green beverage can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Use the left arm to grab the can with red green label, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Take the red green can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Drop the beverage can with red green graphics into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.", + "Lift the red green can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Pick the drink can with bright colors using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Grab the metal can with pull-tab top, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick up the green red metallic soda can using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the left arm to pick the soda can with lime illustration, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the red green beverage can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Place the small soda can with lime graphics inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the colorful can with lime and orange design, place it in the brown basket, and raise the brown basket." + ], + "unseen": [ + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..5227eb52c9966a31183d2834fe15120ca8e0af50 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the yellow basket and lift the yellow basket.", + "Use the same arm to grab the beverage can with printed label, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab and drop the can with sealed gold top in the handheld basket, lift the handheld basket.", + "Pick up the small white can with branding with the left arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Use the left arm to grab the can with sealed gold top, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Take the beverage can with printed label, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the can with rounded cylindrical shape, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Lift the can with sealed gold top, set it in the handheld basket, and elevate the handheld basket.", + "Pick the red-orange text on white can with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the white can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the small white can with branding in the basket with black handle and then lift the basket with black handle.", + "Use the left arm to grab the white can with 3D RADY label, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Take the can with sealed gold top with the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Drop the smooth white can with accents into the yellow basket using the left arm, then lift the yellow basket with another arm.", + "Use the left arm to grab the smooth white can with accents, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the small white can with branding in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick up the white can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the left arm to pick the white can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm to grab the beverage can with printed label and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the can with red-orange text, place it inside the yellow basket, and elevate the yellow basket.", + "Grab the red-orange text on white can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Pick the cylindrical white glossy can with the left arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the white can, set it in the yellow basket, then lift the yellow basket.", + "Take the can with sealed gold top, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the cylindrical white glossy can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the can with sealed gold top, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick up the can with gold top lid, put it into the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the can with sealed gold top in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Take the white can with 3D RADY label and put it in the plastic basket, then lift the plastic basket.", + "Pick the can with gold top lid with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the smooth white can with accents, place it in the basket with black handle, and raise the basket with black handle.", + "Lift the can with red-orange text, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab the white can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick up the red-orange text on white can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the beverage can with printed label, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Hold the white can with 3D RADY label using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the beverage can with printed label, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth white can with accents, put it in the basket with black handle, then raise the basket with black handle.", + "Pick the small white can with branding using the left arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the smooth white can with accents, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the can with sealed gold top, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Place the can with sealed gold top inside the basket with black handle, then lift the basket with black handle.", + "Use the left arm for the can with red-orange text, place the can with red-orange text in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the white can with 3D RADY label, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the left arm to take the white can with 3D RADY label, drop it in the plastic basket, and lift the plastic basket.", + "Grab the white can, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the smooth white can with accents with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket with perforated sides and lift the basket with perforated sides.", + "Use the same arm to grab the cylindrical white glossy can, place in the yellow basket, and then lift the yellow basket.", + "Pick up the can with gold top lid using the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab and drop the white can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick up the can with sealed gold top with the left arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Use the left arm to grab the can with sealed gold top, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Take the white can with 3D RADY label, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the can with sealed gold top, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Lift the can with sealed gold top, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the cylindrical white glossy can with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab the smooth white can with accents, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the white can with 3D RADY label in the plastic basket and then lift the plastic basket.", + "Use the left arm to grab the can with rounded cylindrical shape, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the small white can with branding with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Drop the white can with 3D RADY label into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm.", + "Use the left arm to grab the can with gold top lid, place it in the handheld basket, and lift the handheld basket.", + "Take the red-orange text on white can in the left arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick up the beverage can with printed label, place it in the plastic basket, and then lift the plastic basket.", + "Use the left arm to pick the cylindrical white glossy can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm to grab the medium metal can and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the red-orange text on white can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the smooth white can with accents, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick the can with red-orange text with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick the smooth white can with accents, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the can with sealed gold top, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the can with rounded cylindrical shape, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Grab the red-orange text on white can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick up the small white can with branding, put it into the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth white can with accents with the left arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the white can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Take the smooth white can with accents and put it in the yellow basket, then lift the yellow basket.", + "Pick the white can with 3D RADY label with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Lift the can with red-orange text, place it in the yellow basket, and raise the yellow basket.", + "Lift the beverage can with printed label, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the white can with 3D RADY label, place it in the plastic basket, and lift the plastic basket upwards.", + "Pick up the can with red-orange text, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the can with rounded cylindrical shape, put it in the handheld basket, and carry the handheld basket afterward.", + "Hold the red-orange text on white can using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red-orange text on white can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the white can with 3D RADY label, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick the can with sealed gold top using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick the white can, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Grab the white can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Place the red-orange text on white can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the can with sealed gold top, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the left arm to take the medium metal can, drop it in the handheld basket, and lift the handheld basket.", + "Grab the can with sealed gold top, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the can with red-orange text with the left arm, set it in the yellow basket for carrying stuff, and lift with another arm." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..095741aa7a774eafde8ee34e305db40df7e53c8b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red drink can with white lid with the right arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Pick up the red and white beverage can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the metal can with red base, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick the medium-sized soda can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the smooth red can using the right arm, drop the smooth red can into the basket with handle and lift the basket with handle.", + "Pick the medium-sized soda can using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick up the red and white beverage can using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Drop the smooth red can into the woven basket using the right arm, then lift the woven basket with another arm.", + "Use the right arm to pick the medium-sized soda can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the cylindrical metal can with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Lift the can with flat silver bottom, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Hold the cylindrical can with flat surfaces using the right arm, place it in the woven basket, and lift the woven basket.", + "Take the can with flat silver bottom in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab and drop the medium-sized soda can in the basket for holding items, lift the basket for holding items.", + "Place the can with flat silver bottom inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the cylindrical can with flat surfaces, put it in the brown basket, and carry the brown basket afterward.", + "Grab the metal can with red base, put it in the brown basket, then raise the brown basket.", + "Use the right arm to grab the red shiny can with green label and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Grab the metal can with red base, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Use the right arm to take the drink can with smooth red finish, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the smooth red can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the metal can with red base, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Lift the metal can with red base with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Take the medium-sized soda can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to grab the drink can with smooth red finish, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the red drink can with white lid, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the medium-sized soda can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Grab the cylindrical can with flat surfaces with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the can with flat silver bottom, set it into the brown basket, then raise the brown basket.", + "Use the right arm to hold the smooth red can, drop the smooth red can into the basket for carrying things, and lift the basket for carrying things.", + "Lift the red drink can with white lid, place it in the basket with loop handle, and raise the basket with loop handle.", + "Place the red shiny can with green label in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Grab the cylindrical can with flat surfaces, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Grab the can with flat silver bottom, drop it into the woven basket, and raise the woven basket.", + "Pick up the red shiny can with green label, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the cylindrical metal can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick up the red can with decorative label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the drink can with smooth red finish, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Grab the red soda can with green accents, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick the red and white beverage can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the can with flat silver bottom, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Use the same arm to grab the medium-sized soda can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Take the red drink can with white lid, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the cylindrical can with flat surfaces, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the can with flat silver bottom with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the metal can with red base with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Place the drink can with smooth red finish in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the cylindrical metal can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the smooth red can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the drink can with smooth red finish with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Pick up the can with flat silver bottom, place it in the woven basket, and then lift the woven basket.", + "Lift the metal can with red base, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Pick the metal can with red base, set it in the light brown oval basket, then lift the light brown oval basket.", + "Grab the drink can with smooth red finish using the right arm, drop the drink can with smooth red finish into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Pick the red can with decorative label using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the medium-sized soda can using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Drop the metal can with red base into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Use the right arm to pick the cylindrical metal can, place it inside the basket for holding items, then lift the basket for holding items.", + "Pick the red can with decorative label with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the drink can with smooth red finish, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Hold the can with flat silver bottom using the right arm, place it in the brown basket, and lift the brown basket.", + "Take the smooth red can in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab and drop the red drink can with white lid in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Place the cylindrical metal can inside the brown basket, then lift the brown basket.", + "Lift the cylindrical metal can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Grab the drink can with smooth red finish, put it in the basket with handle, then raise the basket with handle.", + "Use the right arm to grab the drink can with smooth red finish and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the red can with decorative label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the right arm to take the cylindrical metal can, drop it in the basket with handle, and lift the basket with handle.", + "Use the right arm for the smooth red can, place the smooth red can in the basket with handle, and lift the basket with handle.", + "Pick up the smooth red can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the cylindrical metal can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Lift the medium-sized soda can with the right arm, set it in the basket with handle, and lift with another arm.", + "Take the red soda can with green accents and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the right arm to grab the red drink can with white lid, place it in the basket with handle, and lift the basket with handle.", + "Pick up the drink can with smooth red finish, set it inside the brown basket, then lift the brown basket.", + "Lift the red and white beverage can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Grab the red can with decorative label with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the cylindrical metal can, set it into the light brown oval basket, then raise the light brown oval basket.", + "Use the right arm to hold the red drink can with white lid, drop the red drink can with white lid into the basket with handle, and lift the basket with handle.", + "Lift the medium-sized soda can, place it in the woven basket, and raise the woven basket.", + "Place the medium-sized soda can in the basket with handle and then use another arm to lift the basket with handle.", + "Grab the red and white beverage can, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Grab the red can with decorative label, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the red drink can with white lid, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the cylindrical can with flat surfaces, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Pick up the medium-sized soda can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the medium-sized soda can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Grab the smooth red can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick the metal can with red base with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the cylindrical can with flat surfaces, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Use the same arm to grab the cylindrical metal can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Take the medium-sized soda can, set it into the light brown oval basket, and raise the light brown oval basket.", + "Grab the metal can with red base, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Take the red shiny can with green label with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick the red drink can with white lid with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Place the drink can with smooth red finish in the basket made of woven wood and then lift the basket made of woven wood.", + "Use the right arm to grab the cylindrical can with flat surfaces, put it into the brown basket, and lift the brown basket with another arm.", + "Take the red can with decorative label, place it into the basket with handle, then lift the basket with handle." + ], + "unseen": [ + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..01de4c0ba8ab7152a859dd01616a7650a0b62957 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the can with gold top lid, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the red-orange text on white can using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick the white can with 3D RADY label with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the can with red-orange text, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the can with gold top lid, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Take the can with rounded cylindrical shape, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the can with red-orange text with the left arm, set it in the plastic basket, and lift with another arm.", + "Take the small white can with branding, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the medium metal can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick up the cylindrical white glossy can with the left arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Lift the can with red-orange text, place it in the basket with black handle, and raise the basket with black handle.", + "Grab and drop the beverage can with printed label in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the left arm to grab the can with red-orange text, put it into the yellow basket, and lift the yellow basket with another arm.", + "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the yellow basket and lift the yellow basket.", + "Pick the white can with the left arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Place the cylindrical white glossy can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Grab the small white can with branding, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the can with red-orange text, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Hold the red-orange text on white can using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to grab the medium metal can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Lift the can with rounded cylindrical shape, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Grab the small white can with branding, drop it into the handheld basket, and raise the handheld basket.", + "Pick the can with red-orange text using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Pick the can with red-orange text with the left arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the small white can with branding, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Use the left arm to grab the small white can with branding, place it in the plastic basket, and lift the plastic basket.", + "Take the small white can with branding with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the handheld basket, and lift the handheld basket.", + "Grab the can with rounded cylindrical shape, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the white can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the can with red-orange text, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Drop the medium metal can into the yellow basket for carrying stuff using the left arm, then lift the yellow basket for carrying stuff with another arm.", + "Use the left arm to grab the white can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Place the can with gold top lid in the yellow basket and then lift the yellow basket.", + "Grab the white can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Lift the white can with 3D RADY label, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the cylindrical white glossy can with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the same arm to grab the small white can with branding, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the white can inside the basket with black handle, then lift the basket with black handle.", + "Take the can with sealed gold top and put it in the handheld basket, then lift the handheld basket.", + "Grab the can with rounded cylindrical shape, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Pick the cylindrical white glossy can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the left arm to take the medium metal can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the medium metal can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the can with sealed gold top, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the white can, set it in the plastic basket, and lift the plastic basket upward.", + "Use the left arm to pick the white can with 3D RADY label, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the white can with 3D RADY label in the left arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Pick up the can with rounded cylindrical shape, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the can with red-orange text, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the red-orange text on white can using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the white can with 3D RADY label with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the small white can with branding, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red-orange text on white can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the can with red-orange text, set it into the yellow basket, and raise the yellow basket.", + "Lift the smooth white can with accents with the left arm, set it in the handheld basket, and lift with another arm.", + "Take the can with gold top lid, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the white can with 3D RADY label, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick up the beverage can with printed label with the left arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Lift the can with sealed gold top, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Grab and drop the can with red-orange text in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the left arm to grab the can with sealed gold top, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Pick the medium metal can with the left arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Place the white can with 3D RADY label in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Grab the can with rounded cylindrical shape, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the can with sealed gold top, set it into the bright yellow basket, then raise the bright yellow basket.", + "Hold the medium metal can using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Lift the red-orange text on white can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Grab the white can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the red-orange text on white can using the left arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick the can with gold top lid with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Lift the small white can with branding, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Use the left arm to grab the beverage can with printed label, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the white can with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the plastic basket, and lift the plastic basket.", + "Grab the small white can with branding, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Grab the cylindrical white glossy can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the smooth white can with accents, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Drop the beverage can with printed label into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Use the left arm to grab the white can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Place the can with sealed gold top in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Grab the white can with 3D RADY label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Lift the can with sealed gold top, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the white can with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the same arm to grab the can with sealed gold top, place in the yellow basket, and then lift the yellow basket.", + "Place the medium metal can inside the basket with black handle, then lift the basket with black handle.", + "Take the smooth white can with accents and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the can with rounded cylindrical shape, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick the medium metal can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the yellow basket, and lift the yellow basket.", + "Use the left arm to take the can with rounded cylindrical shape, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the beverage can with printed label, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the can with gold top lid, put it in the basket with black handle, and lift the basket with black handle.", + "Pick the white can with 3D RADY label, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the left arm to pick the cylindrical white glossy can, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the red-orange text on white can in the left arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick up the cylindrical white glossy can, place it in the yellow basket, and then lift the yellow basket." + ], + "unseen": [ + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..86bea3c5cf1144e34fdbf914353beee2001cc48e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the palm-sized drink can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the smooth red soda can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the gold patterned beverage can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the bright red drink container can with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the metallic soda can, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Lift the smooth red soda can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Lift the bright red drink container can with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the metallic soda can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick up the red and gold cylindrical can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the smooth red soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the smooth red soda can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the palm-sized drink can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the gold-decorated aluminum can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Lift the bright red drink container can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the metallic can with rounded edges, place it into the basket with black handle, then lift the basket with black handle.", + "Drop the red and gold cylindrical can into the rectangular basket with smooth surface using the left arm, then lift the rectangular basket with smooth surface with another arm.", + "Place the compact metal drink can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the gold patterned beverage can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Lift the red can with gold illustrations, place it inside the yellow basket, and elevate the yellow basket.", + "Take the red beverage can with curved top and put it in the handheld basket, then lift the handheld basket.", + "Place the smooth red soda can in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the palm-sized drink can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the metallic can with rounded edges, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Use the left arm to grab the palm-sized drink can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the left arm to grab the metallic can with rounded edges, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Lift the red and gold cylindrical can, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Take the red can with gold illustrations, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Hold the compact metal drink can using the left arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the left arm to grab the compact metal drink can, place it in the handheld basket, and lift the handheld basket.", + "Grab and drop the palm-sized drink can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Place the gold patterned beverage can in the basket with black handle and then lift the basket with black handle.", + "Use the left arm for the bright red drink container can, place the bright red drink container can in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the metallic soda can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the gold patterned beverage can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the metallic soda can using the left arm, drop the metallic soda can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick the bright red drink container can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the left arm to grab the compact metal drink can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the palm-sized drink can in the left arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Pick up the red and gold cylindrical can using the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the left arm to hold the bright red drink container can, drop the bright red drink container can into the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to pick the bright red drink container can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the smooth red soda can with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Grab the palm-sized drink can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick up the gold patterned beverage can with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Grab the compact metal drink can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick the red can using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the metallic can with rounded edges with the left arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the left arm to take the metallic can with rounded edges, drop it in the handheld basket, and lift the handheld basket.", + "Take the red can with the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the bright red drink container can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Take the compact metal drink can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the metallic can with rounded edges, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the bright red drink container can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the smooth red soda can with the left arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the red and gold cylindrical can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Lift the compact metal drink can, set it in the handheld basket, and elevate the handheld basket.", + "Lift the red can with gold illustrations with the left arm, set it in the basket with perforated sides, and lift with another arm.", + "Grab the red beverage can with curved top, set it into the plastic basket, then raise the plastic basket.", + "Pick up the red and gold cylindrical can, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the red can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the gold patterned beverage can, place in the basket with black handle, and then lift the basket with black handle.", + "Grab the compact metal drink can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the metallic soda can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Lift the red can with gold illustrations, place it in the yellow basket, pick up the yellow basket afterward.", + "Pick up the red and gold cylindrical can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Drop the red can into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Place the smooth red soda can inside the handheld basket, then lift the handheld basket.", + "Pick the metallic soda can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Lift the smooth red soda can, place it inside the plastic basket, and elevate the plastic basket.", + "Take the smooth red soda can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the gold patterned beverage can in the handheld basket and then use another arm to lift the handheld basket.", + "Grab the bright red drink container can, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the palm-sized drink can, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Use the left arm to grab the smooth red soda can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Use the left arm to grab the bright red drink container can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Lift the gold-decorated aluminum can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Take the red and gold cylindrical can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Hold the red can with gold illustrations using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Use the left arm to grab the bright red drink container can, place it in the plastic basket, and lift the plastic basket.", + "Grab and drop the bright red drink container can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Place the palm-sized drink can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the left arm for the red can with gold illustrations, place the red can with gold illustrations in the plastic basket, and lift the plastic basket.", + "Pick up the metallic can with rounded edges, put it in the handheld basket, and lift the handheld basket.", + "Grab the red can, put it in the handheld basket, then raise the handheld basket.", + "Grab the palm-sized drink can using the left arm, drop the palm-sized drink can into the basket with perforated sides and lift the basket with perforated sides.", + "Pick the gold patterned beverage can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the left arm to grab the gold-decorated aluminum can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the metallic can with rounded edges in the left arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the metallic can with rounded edges using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the left arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the left arm to pick the compact metal drink can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the gold patterned beverage can with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the metallic soda can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Pick up the metallic soda can with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the gold-decorated aluminum can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick the metallic soda can using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the metallic can with rounded edges with the left arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the left arm to take the gold-decorated aluminum can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Take the smooth red soda can with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the red beverage can with curved top, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm." + ], + "unseen": [ + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..84c6f1bd638dc76dcde5b6caa49cd93ec0a435d9 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized soda can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Hold the red drink can with white lid using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the drink can with smooth red finish using the right arm, drop the drink can with smooth red finish into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the cylindrical metal can, set it inside the yellow basket, then lift the yellow basket.", + "Lift the red and white beverage can, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab the medium-sized soda can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the red shiny can with green label, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick the cylindrical metal can with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the cylindrical metal can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the same arm to grab the red shiny can with green label, place in the yellow basket, and then lift the yellow basket.", + "Pick the red and white beverage can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the drink can with smooth red finish, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm for the red and white beverage can, place the red and white beverage can in the yellow basket, and lift the yellow basket.", + "Grab and drop the red drink can with white lid in the basket with black handle, lift the basket with black handle.", + "Grab the metal can with red base, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Take the red and white beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the cylindrical can with flat surfaces with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Place the red soda can with green accents in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the right arm to pick the drink can with smooth red finish, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red can with decorative label, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the cylindrical can with flat surfaces, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the red can with decorative label, put it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the red can with decorative label with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Use the right arm to grab the red soda can with green accents, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the smooth red can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Lift the can with flat silver bottom, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the drink can with smooth red finish, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the cylindrical metal can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Pick the can with flat silver bottom with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the medium-sized soda can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Take the red and white beverage can and put it in the plastic basket, then lift the plastic basket.", + "Place the can with flat silver bottom inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the red drink can with white lid, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Pick up the cylindrical metal can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the cylindrical metal can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the metal can with red base in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Lift the smooth red can, place it in the basket with black handle, and raise the basket with black handle.", + "Pick the can with flat silver bottom using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the red soda can with green accents using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the red drink can with white lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the red can with decorative label, set it in the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the drink can with smooth red finish, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the right arm to grab the can with flat silver bottom and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the can with flat silver bottom in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Lift the drink can with smooth red finish, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Drop the can with flat silver bottom into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Use the right arm to take the smooth red can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the smooth red can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Use the right arm to hold the metal can with red base, drop the metal can with red base into the basket with black handle, and lift the basket with black handle.", + "Grab the red drink can with white lid, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Hold the red soda can with green accents using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the medium-sized soda can using the right arm, drop the medium-sized soda can into the bright yellow basket and lift the bright yellow basket.", + "Pick up the red can with decorative label, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red soda can with green accents, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the cylindrical metal can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the red shiny can with green label, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick the red can with decorative label with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the red soda can with green accents with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the same arm to grab the metal can with red base, place in the plastic basket, and then lift the plastic basket.", + "Pick the red and white beverage can, set it in the yellow basket, and lift the yellow basket upward.", + "Take the red shiny can with green label, set it into the yellow basket, and raise the yellow basket.", + "Use the right arm for the smooth red can, place the smooth red can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab and drop the red can with decorative label in the rectangular yellow basket, lift the rectangular yellow basket.", + "Grab the red can with decorative label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Take the red and white beverage can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Take the red can with decorative label with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Place the red soda can with green accents in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the plastic basket, then lift the plastic basket.", + "Grab the drink can with smooth red finish, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the cylindrical metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the red soda can with green accents, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the cylindrical metal can with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Use the right arm to grab the red can with decorative label, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the smooth red can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Lift the medium-sized soda can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the red can with decorative label, put it in the handheld basket, then raise the handheld basket.", + "Grab the red shiny can with green label, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick the can with flat silver bottom with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the can with flat silver bottom with the right arm, set it in the plastic basket, and lift with another arm.", + "Take the smooth red can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the red shiny can with green label inside the basket with black handle, then lift the basket with black handle.", + "Grab the red and white beverage can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the metal can with red base, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick up the red shiny can with green label, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the red and white beverage can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Place the red shiny can with green label in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Lift the metal can with red base, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the red can with decorative label using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the medium-sized soda can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the red soda can with green accents, put it into the basket with black handle, and lift the basket with black handle.", + "Pick the drink can with smooth red finish, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red and white beverage can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Use the right arm to grab the cylindrical metal can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Take the cylindrical can with flat surfaces in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Lift the red soda can with green accents, set it in the yellow basket, and elevate the yellow basket.", + "Drop the red soda can with green accents into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to take the medium-sized soda can, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the red drink can with white lid, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the bright yellow basket, and lift the bright yellow basket." + ], + "unseen": [ + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..194797e7760d66ec1230e0cd5a491a6949057c70 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red can with gold illustrations, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Drop the metallic can with rounded edges into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Pick up the red and gold cylindrical can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to grab the smooth red soda can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Use the left arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the basket with handle, and lift the basket with handle.", + "Use the left arm to take the red and gold cylindrical can, drop it in the brown basket, and lift the brown basket.", + "Use the left arm to pick the red can with gold illustrations, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab and drop the metallic can with rounded edges in the brown basket, lift the brown basket.", + "Grab the red can with gold illustrations, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Take the red can with gold illustrations, set it into the brown basket, and raise the brown basket.", + "Pick the smooth red soda can, set it in the basket with handle, then lift the basket with handle.", + "Use the left arm to grab the smooth red soda can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the smooth red soda can in the basket with handle and then use another arm to lift the basket with handle.", + "Grab the red can using the left arm, drop the red can into the basket with loop handle and lift the basket with loop handle.", + "Use the same arm to grab the metallic can with rounded edges, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the gold patterned beverage can, place it in the basket for holding items, and then lift the basket for holding items.", + "Take the metallic can with rounded edges and put it in the basket with handle, then lift the basket with handle.", + "Pick the compact metal drink can with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Hold the gold patterned beverage can using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Pick the palm-sized drink can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab the red beverage can with curved top, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Place the gold-decorated aluminum can in the basket for holding items and then lift the basket for holding items.", + "Pick up the red beverage can with curved top, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the red can with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick up the bright red drink container can, set it inside the brown basket, then lift the brown basket.", + "Take the palm-sized drink can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Use the left arm to grab the red and gold cylindrical can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Use the left arm for the metallic can with rounded edges, place the metallic can with rounded edges in the brown basket, and lift the brown basket.", + "Grab the red can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick up the compact metal drink can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the palm-sized drink can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Pick up the red beverage can with curved top using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the metallic soda can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the red can with gold illustrations, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick up the red can, put it in the brown basket, and lift the brown basket.", + "Use the left arm to grab the metallic can with rounded edges, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Grab the red beverage can with curved top, place it in the woven basket, and then lift the woven basket.", + "Take the red can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick the red beverage can with curved top with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Lift the smooth red soda can, put it in the brown basket, and carry the brown basket afterward.", + "Lift the metallic can with rounded edges, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Lift the bright red drink container can with the left arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab the red can with gold illustrations, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Take the red beverage can with curved top in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Lift the gold patterned beverage can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Place the palm-sized drink can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the gold patterned beverage can, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Lift the red can with gold illustrations, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the smooth red soda can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the gold patterned beverage can, drop it into the brown basket, then use another arm for the brown basket.", + "Pick the bright red drink container can, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Drop the gold patterned beverage can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Pick up the gold patterned beverage can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to grab the red can with gold illustrations, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Use the left arm to hold the red and gold cylindrical can, drop the red and gold cylindrical can into the light brown oval basket, and lift the light brown oval basket.", + "Use the left arm to take the red beverage can with curved top, drop it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to pick the red can with gold illustrations, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab and drop the smooth red soda can in the light brown oval basket, lift the light brown oval basket.", + "Grab the metallic can with rounded edges, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Take the red and gold cylindrical can, set it into the basket for carrying things, and raise the basket for carrying things.", + "Pick the smooth red soda can, set it in the woven basket, then lift the woven basket.", + "Use the left arm to grab the smooth red soda can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Place the smooth red soda can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Grab the red can using the left arm, drop the red can into the woven basket and lift the woven basket.", + "Use the same arm to grab the gold-decorated aluminum can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the red beverage can with curved top, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Take the metallic can with rounded edges and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the gold patterned beverage can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Hold the metallic can with rounded edges using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the bright red drink container can with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Grab the red can with gold illustrations, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Place the bright red drink container can in the brown basket and then lift the brown basket.", + "Pick up the red can, put it into the woven basket, and lift the woven basket.", + "Grab the red can with gold illustrations with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick up the red beverage can with curved top, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the red and gold cylindrical can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Use the left arm to grab the red and gold cylindrical can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Use the left arm for the palm-sized drink can, place the palm-sized drink can in the woven basket, and lift the woven basket.", + "Grab the bright red drink container can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Pick up the metallic soda can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Grab the gold patterned beverage can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Pick up the metallic can with rounded edges using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the bright red drink container can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the metallic soda can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick up the red and gold cylindrical can, put it in the brown basket, and lift the brown basket.", + "Use the left arm to grab the red beverage can with curved top, put it into the brown basket, and lift the brown basket with another arm.", + "Grab the gold patterned beverage can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Take the red and gold cylindrical can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick the gold-decorated aluminum can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Lift the smooth red soda can, put it in the basket with handle, and carry the basket with handle afterward.", + "Lift the red beverage can with curved top, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Lift the red can with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the palm-sized drink can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Take the red can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the red can, place it in the woven basket, pick up the woven basket afterward.", + "Place the bright red drink container can inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the red and gold cylindrical can, drop it into the brown basket, then carry the brown basket.", + "Lift the metallic can with rounded edges, place it in the basket with handle, and raise the basket with handle.", + "Grab the red can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the gold patterned beverage can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges." + ], + "unseen": [ + "Use the left arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..e228f251ed0bf1cab1fa569f915a5ad87ef9b4fd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small cylindrical drink container, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Grab and drop the drink can with light brown shade in the basket with loop handle, lift the basket with loop handle.", + "Lift the metal can with white decorative designs, place it in the basket with handle, pick up the basket with handle afterward.", + "Use the left arm to grab the small cylindrical drink container, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Lift the rounded metallic can with the left arm, set it in the basket for holding items, and lift with another arm.", + "Grab the metal can with white decorative designs, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Lift the small light brown cylindrical can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Take the metal can with white decorative designs and put it in the brown basket, then lift the brown basket.", + "Pick the brown can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the small cylindrical drink container, set it into the brown basket, then raise the brown basket.", + "Grab the white patterned brown metal can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the small cylindrical drink container with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the left arm to grab the smooth light brown can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Drop the metal can with white decorative designs into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.", + "Pick the drink can with light brown shade with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Pick the brown can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to take the rounded metallic can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the brown can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Pick up the small light brown cylindrical can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the small light brown cylindrical can, set it in the basket with handle, and lift the basket with handle upward.", + "Hold the hand-sized metallic can using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm for the metal can with printed white graphics, place the metal can with printed white graphics in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the white patterned brown metal can in the basket for holding items and then lift the basket for holding items.", + "Use the same arm to grab the hand-sized metallic can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the smooth brown can with rounded edges, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Take the smooth light brown can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick up the hand-sized metallic can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the light brown can with smooth texture, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the light brown can with smooth texture, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the metal can with white decorative designs, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Pick up the metal can with printed white graphics, put it into the basket with handle, and lift the basket with handle.", + "Pick up the brown can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Use the left arm to grab the light brown can with smooth texture, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Place the metal can with white decorative designs in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Use the left arm to pick the white patterned brown metal can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the small cylindrical drink container using the left arm, drop the small cylindrical drink container into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Lift the smooth brown can with rounded edges, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Lift the metal can with printed white graphics, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Take the rounded metallic can, set it into the basket for holding items, and raise the basket for holding items.", + "Pick up the smooth brown can with rounded edges, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the small light brown cylindrical can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the white patterned brown metal can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the metal can with printed white graphics with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the drink can with light brown shade, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick the small cylindrical drink container with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the brown basket, and lift the brown basket.", + "Place the brown can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the white patterned brown metal can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Lift the drink can with light brown shade, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the left arm to grab the drink can with light brown shade, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the light brown can with smooth texture, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Grab and drop the brown can in the basket with loop handle, lift the basket with loop handle.", + "Lift the small light brown cylindrical can, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Use the left arm to grab the small cylindrical drink container, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Lift the drink can with light brown shade with the left arm, set it in the brown basket, and lift with another arm.", + "Grab the smooth light brown can, place it in the brown basket, and lift the brown basket upwards.", + "Lift the small cylindrical drink container, place it in the basket for holding items, and raise the basket for holding items.", + "Take the small cylindrical drink container and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the smooth light brown can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the rounded metallic can, set it into the basket for holding items, then raise the basket for holding items.", + "Grab the rounded metallic can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the small light brown cylindrical can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the left arm to grab the metal can with white decorative designs and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Drop the metal can with printed white graphics into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Pick the metal can with printed white graphics with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick the small light brown cylindrical can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to take the hand-sized metallic can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the rounded metallic can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Pick up the small light brown cylindrical can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the hand-sized metallic can, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Hold the drink can with light brown shade using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm for the smooth brown can with rounded edges, place the smooth brown can with rounded edges in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the drink can with light brown shade in the brown basket and then lift the brown basket.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the basket with handle, and then lift the basket with handle.", + "Grab the small light brown cylindrical can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Take the white patterned brown metal can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the white patterned brown metal can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the rounded metallic can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Take the smooth brown can with rounded edges, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the rounded metallic can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Pick up the light brown can with smooth texture, put it into the basket for holding items, and lift the basket for holding items.", + "Pick up the metal can with white decorative designs with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Use the left arm to grab the white patterned brown metal can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Place the brown can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the left arm to pick the brown can, place it inside the basket for holding items, then lift the basket for holding items.", + "Grab the small cylindrical drink container using the left arm, drop the small cylindrical drink container into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Lift the metal can with white decorative designs, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Lift the drink can with light brown shade, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Take the smooth brown can with rounded edges, set it into the woven basket, and raise the woven basket.", + "Pick up the hand-sized metallic can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the white patterned brown metal can, drop it into the woven basket, and raise the woven basket.", + "Pick up the smooth brown can with rounded edges using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the rounded metallic can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Grab the small light brown cylindrical can, put it in the brown basket, then raise the brown basket.", + "Pick the light brown can with smooth texture with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Use the left arm to hold the metal can with printed white graphics, drop the metal can with printed white graphics into the basket for carrying things, and lift the basket for carrying things.", + "Place the hand-sized metallic can inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the metal can with printed white graphics, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Lift the smooth brown can with rounded edges, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Use the left arm to grab the smooth brown can with rounded edges, place it in the brown basket, and lift the brown basket." + ], + "unseen": [ + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf3e25c488bd77d37f338d43cc767daeaba68be --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white patterned brown metal can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm to take the metal can with white decorative designs, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the white patterned brown metal can, set it in the plastic basket, and lift the plastic basket upward.", + "Lift the metal can with white decorative designs, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the smooth light brown can using the right arm, drop the smooth light brown can into the basket with black handle and lift the basket with black handle.", + "Lift the metal can with white decorative designs, set it in the yellow basket, and elevate the yellow basket.", + "Pick the metal can with white decorative designs with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the brown can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the white patterned brown metal can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Hold the metal can with white decorative designs using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Take the smooth brown can with rounded edges, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the hand-sized metallic can using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the rounded metallic can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Place the rounded metallic can in the basket with perforated sides and then lift the basket with perforated sides.", + "Place the smooth brown can with rounded edges in the yellow basket and then use another arm to lift the yellow basket.", + "Use the right arm to grab the metal can with white decorative designs, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the drink can with light brown shade, place it in the yellow basket, and lift the yellow basket upwards.", + "Use the right arm to grab the hand-sized metallic can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Pick the small light brown cylindrical can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the same arm to grab the metal can with white decorative designs, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the hand-sized metallic can, put it into the plastic basket, and lift the plastic basket.", + "Use the right arm to pick the small cylindrical drink container, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the small cylindrical drink container, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the right arm to grab the smooth brown can with rounded edges and place in the plastic basket, lift the plastic basket with another arm.", + "Take the drink can with light brown shade, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the drink can with light brown shade, place it in the handheld basket, and raise the handheld basket.", + "Use the right arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the hand-sized metallic can in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Pick the hand-sized metallic can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the brown can with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Take the small light brown cylindrical can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the drink can with light brown shade, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the metal can with white decorative designs, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Drop the smooth light brown can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Take the smooth brown can with rounded edges with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Grab the small light brown cylindrical can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick the rounded metallic can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the rounded metallic can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Grab and drop the smooth light brown can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the white patterned brown metal can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Pick up the white patterned brown metal can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the rounded metallic can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Use the right arm for the metal can with white decorative designs, place the metal can with white decorative designs in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the metal can with printed white graphics, set it inside the plastic basket, then lift the plastic basket.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the white patterned brown metal can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Place the smooth light brown can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the small light brown cylindrical can, drop it into the plastic basket, and raise the plastic basket.", + "Lift the hand-sized metallic can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Grab the small light brown cylindrical can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the small light brown cylindrical can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to take the smooth light brown can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the smooth light brown can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Lift the rounded metallic can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the small cylindrical drink container using the right arm, drop the small cylindrical drink container into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Lift the metal can with printed white graphics, set it in the yellow basket, and elevate the yellow basket.", + "Pick the smooth light brown can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the drink can with light brown shade, put it in the handheld basket, and lift the handheld basket.", + "Use the right arm to grab the metal can with printed white graphics, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Hold the metal can with white decorative designs using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Take the smooth light brown can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the rounded metallic can using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the rounded metallic can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Place the drink can with light brown shade in the yellow basket and then lift the yellow basket.", + "Place the small cylindrical drink container in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the right arm to grab the small cylindrical drink container, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth light brown can, place it in the plastic basket, and lift the plastic basket upwards.", + "Use the right arm to grab the smooth brown can with rounded edges, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the drink can with light brown shade with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the same arm to grab the light brown can with smooth texture, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the smooth brown can with rounded edges, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to pick the smooth light brown can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the brown can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Use the right arm to grab the drink can with light brown shade and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Take the drink can with light brown shade, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Lift the rounded metallic can, place it in the basket with black handle, and raise the basket with black handle.", + "Use the right arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the yellow basket, and lift the yellow basket.", + "Take the light brown can with smooth texture in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick the smooth brown can with rounded edges with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the small light brown cylindrical can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Take the drink can with light brown shade and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the smooth light brown can, set it into the handheld basket, then raise the handheld basket.", + "Lift the metal can with white decorative designs, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Drop the brown can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Take the metal can with printed white graphics with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the brown can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the light brown can with smooth texture, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the light brown can with smooth texture with the right arm, set it in the basket with black handle, and lift with another arm.", + "Grab and drop the metal can with white decorative designs in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the light brown can with smooth texture, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick up the hand-sized metallic can, place it into the basket with black handle, then lift the basket with black handle.", + "Grab the drink can with light brown shade, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the right arm for the hand-sized metallic can, place the hand-sized metallic can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the hand-sized metallic can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the rounded metallic can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the metal can with printed white graphics, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Place the small cylindrical drink container inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the light brown can with smooth texture, drop it into the yellow basket, and raise the yellow basket.", + "Lift the light brown can with smooth texture, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Grab the smooth brown can with rounded edges, put it in the plastic basket, then raise the plastic basket." + ], + "unseen": [ + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..1b545245bb0a782765830e52044a1d0f35ce2902 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the drink can with smooth red finish, put it into the bright yellow basket, and lift the bright yellow basket.", + "Pick the red drink can with white lid using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Grab the red drink can with white lid, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick the red can with decorative label with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to pick the metal can with red base, place it inside the yellow basket, then lift the yellow basket.", + "Lift the smooth red can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the can with flat silver bottom, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the cylindrical can with flat surfaces, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the cylindrical metal can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the smooth red can, drop it into the basket with black handle, then carry the basket with black handle.", + "Take the can with flat silver bottom and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the drink can with smooth red finish in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Place the cylindrical metal can in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the smooth red can, place it in the plastic basket, pick up the plastic basket afterward.", + "Lift the smooth red can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the drink can with smooth red finish, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the red drink can with white lid, set it in the yellow basket, and lift the yellow basket upward.", + "Take the red drink can with white lid, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the red can with decorative label, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Pick up the cylindrical metal can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the medium-sized soda can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm to hold the red and white beverage can, drop the red and white beverage can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the medium-sized soda can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab and drop the red soda can with green accents in the plastic basket, lift the plastic basket.", + "Pick up the red can with decorative label with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Use the same arm to grab the drink can with smooth red finish, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the right arm to take the smooth red can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the cylindrical can with flat surfaces with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Take the metal can with red base with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Lift the cylindrical metal can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the can with flat silver bottom, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the drink can with smooth red finish with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the smooth red can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Grab the red drink can with white lid, put it in the handheld basket, then raise the handheld basket.", + "Take the medium-sized soda can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Use the right arm to grab the red drink can with white lid, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Grab the red and white beverage can, set it into the basket with black handle, then raise the basket with black handle.", + "Use the right arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the red can with decorative label in the handheld basket and then lift the handheld basket.", + "Grab the red drink can with white lid, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Hold the cylindrical metal can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the can with flat silver bottom, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the red drink can with white lid, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the red and white beverage can inside the basket with black handle, then lift the basket with black handle.", + "Pick the can with flat silver bottom, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the plastic basket and lift the plastic basket.", + "Pick up the red shiny can with green label, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Drop the red shiny can with green label into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Grab the red soda can with green accents, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Pick the red drink can with white lid with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the cylindrical can with flat surfaces, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the red drink can with white lid using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red can with decorative label, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick the red can with decorative label with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the red can with decorative label, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Grab the can with flat silver bottom, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the cylindrical can with flat surfaces, put it in the handheld basket, and lift the handheld basket.", + "Use the right arm to grab the medium-sized soda can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the can with flat silver bottom, drop it into the plastic basket, then carry the plastic basket.", + "Take the can with flat silver bottom and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Take the red and white beverage can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Place the red soda can with green accents in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Lift the smooth red can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Lift the red drink can with white lid, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the red soda can with green accents, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the metal can with red base, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the red shiny can with green label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the smooth red can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick up the medium-sized soda can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the drink can with smooth red finish, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the smooth red can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab and drop the drink can with smooth red finish in the yellow basket, lift the yellow basket.", + "Pick up the can with flat silver bottom with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Use the same arm to grab the cylindrical metal can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to take the metal can with red base, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the can with flat silver bottom with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Take the medium-sized soda can with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the smooth red can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Lift the drink can with smooth red finish, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the smooth red can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the red can with decorative label, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab the medium-sized soda can, put it in the yellow basket, then raise the yellow basket.", + "Take the red shiny can with green label, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the right arm to grab the medium-sized soda can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Grab the drink can with smooth red finish, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the right arm for the can with flat silver bottom, place the can with flat silver bottom in the handheld basket, and lift the handheld basket.", + "Place the smooth red can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Grab the red shiny can with green label, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Hold the drink can with smooth red finish using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the smooth red can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the smooth red can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the can with flat silver bottom inside the plastic basket, then lift the plastic basket.", + "Pick the cylindrical can with flat surfaces, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red can with decorative label using the right arm, drop the red can with decorative label into the handheld basket and lift the handheld basket.", + "Pick up the red soda can with green accents, set it inside the handheld basket, then lift the handheld basket.", + "Drop the medium-sized soda can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Grab the red and white beverage can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Pick the red drink can with white lid with one arm, place it in the yellow basket, and lift the yellow basket using another arm." + ], + "unseen": [ + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4e8af63b82af55a32655068dcff7324878e413 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the brown basket, and lift the brown basket.", + "Use the right arm to pick the beverage can with red green graphics, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Hold the can with red green label using the right arm, place it in the brown basket, and lift the brown basket.", + "Take the red green beverage can, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the metal can with pull-tab top, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the soda can with lime illustration with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the drink can with bright colors, place it in the light brown oval basket, and raise the light brown oval basket.", + "Place the red green can inside the woven basket, then lift the woven basket.", + "Grab the metal can with pull-tab top using the right arm, drop the metal can with pull-tab top into the basket for carrying things and lift the basket for carrying things.", + "Pick up the red green beverage can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Use the right arm to grab the red green can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Drop the drink can with bright colors into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Grab and drop the soda can with lime illustration in the brown basket, lift the brown basket.", + "Grab the metal can with pull-tab top, set it into the basket with loop handle, then raise the basket with loop handle.", + "Take the metal can with pull-tab top and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the colorful can with lime and orange design, set it in the woven basket, and elevate the woven basket.", + "Grab the metal can with pull-tab top, put it in the basket with handle, then raise the basket with handle.", + "Pick up the metal can with pull-tab top, put it in the basket with loop handle, and lift the basket with loop handle.", + "Pick the metal can with pull-tab top with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the small soda can with lime graphics, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Place the drink can with bright colors in the basket with handle and then lift the basket with handle.", + "Grab the beverage can with red green graphics, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Grab the green red metallic soda can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the basket for carrying things, and lift the basket for carrying things.", + "Lift the green red metallic soda can with the right arm, set it in the basket with handle, and lift with another arm.", + "Use the right arm to grab the red green beverage can and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Place the smooth cylindrical can with lime pattern in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Pick the green red metallic soda can, set it in the woven basket, then lift the woven basket.", + "Grab the colorful can with lime and orange design, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick up the colorful can with lime and orange design, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the right arm to take the green red metallic soda can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the colorful can with lime and orange design, set it in the brown basket, and lift the brown basket upward.", + "Lift the red green beverage can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Lift the can with red green label, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Take the beverage can with red green graphics, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the red green can using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the soda can with lime illustration, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Pick the soda can with lime illustration using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick up the drink can with bright colors, place it in the woven basket, and then lift the woven basket.", + "Use the same arm to grab the red green beverage can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the red green can with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick up the metal can with pull-tab top, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the red green can with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Take the colorful can with lime and orange design in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Use the right arm to grab the red green can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the red green can, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Pick the drink can with bright colors with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the can with red green label, drop it into the brown basket, and raise the brown basket.", + "Grab the colorful can with lime and orange design, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the right arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to pick the red green can, place it inside the basket with handle, then lift the basket with handle.", + "Hold the colorful can with lime and orange design using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the metallic drink can with pull-tab, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the red green can, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Grab the drink can with bright colors with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the small soda can with lime graphics, place it in the basket with loop handle, and raise the basket with loop handle.", + "Place the drink can with bright colors inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the woven basket and lift the woven basket.", + "Pick up the small soda can with lime graphics with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Use the right arm to grab the metal can with pull-tab top, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Drop the beverage can with red green graphics into the brown basket using the right arm, then lift the brown basket with another arm.", + "Grab and drop the green red metallic soda can in the basket made of woven wood, lift the basket made of woven wood.", + "Grab the beverage can with red green graphics, set it into the brown basket, then raise the brown basket.", + "Take the can with red green label and put it in the woven basket, then lift the woven basket.", + "Lift the drink can with bright colors, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the drink can with bright colors, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the red green can, put it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the green red metallic soda can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the red green beverage can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Place the red green beverage can in the basket made of woven wood and then lift the basket made of woven wood.", + "Grab the can with red green label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Grab the metal can with pull-tab top, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Use the right arm to grab the red green beverage can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Use the right arm for the red green beverage can, place the red green beverage can in the basket with handle, and lift the basket with handle.", + "Lift the drink can with bright colors with the right arm, set it in the brown basket, and lift with another arm.", + "Use the right arm to grab the beverage can with red green graphics and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Place the red green beverage can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Pick the drink can with bright colors, set it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the red green can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the drink can with bright colors, place it into the basket for holding items, then lift the basket for holding items.", + "Use the right arm to take the can with red green label, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the small soda can with lime graphics, set it in the basket with handle, and lift the basket with handle upward.", + "Lift the red green can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Lift the metal can with pull-tab top, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Take the smooth cylindrical can with lime pattern, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Lift the red green beverage can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick the metallic drink can with pull-tab using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick up the red green can, place it in the basket with handle, and then lift the basket with handle.", + "Use the same arm to grab the metal can with pull-tab top, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick up the soda can with lime illustration, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the soda can with lime illustration with the right arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Take the small soda can with lime graphics in the right arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Use the right arm to grab the colorful can with lime and orange design, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the metallic drink can with pull-tab, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Pick the can with red green label with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the metal can with pull-tab top, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Grab the small soda can with lime graphics, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards." + ], + "unseen": [ + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..a8421f409ef68d7286f76e8f3f3c162f4ce7a8bd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the Coca-Cola soda can, place it in the brown basket, and raise the brown basket using the other arm.", + "Lift the hand-sized red can for drinks, set it in the basket with handle, and elevate the basket with handle.", + "Pick up the red can with white Coca-Cola logo, set it inside the basket with handle, then lift the basket with handle.", + "Pick up the hand-sized red can for drinks using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the small aluminum red drink can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the Coca-Cola soda can, put it in the basket with handle, and carry the basket with handle afterward.", + "Grab the red can with white Coca-Cola logo, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Place the red can with white Coca-Cola logo in the basket with handle and then lift the basket with handle.", + "Pick up the Coca-Cola soda can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the hand-sized red can for drinks, place it in the brown basket, pick up the brown basket afterward.", + "Take the small aluminum red drink can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab and drop the cylindrical red drink can with logo in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Lift the Coca-Cola soda can with the left arm, set it in the woven basket, and lift with another arm.", + "Pick the cylindrical red drink can with logo, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the hand-sized red can for drinks, set it in the woven basket, and lift the woven basket upward.", + "Use the left arm for the Coca-Cola can, place the Coca-Cola can in the light brown oval basket, and lift the light brown oval basket.", + "Take the metallic red beverage can in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Place the red can with smooth metallic texture inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to grab the small aluminum red drink can, place it into the woven basket, and lift the woven basket using the other arm.", + "Use the left arm to grab the hand-sized red can for drinks and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Take the red can with white Coca-Cola logo, set it into the brown basket, and raise the brown basket.", + "Take the red can with white lettering and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the same arm to grab the small aluminum red drink can, place in the basket for holding items, and then lift the basket for holding items.", + "Grab the red cylindrical can with silver top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the hand-sized red can for drinks with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the Coca-Cola soda can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the smooth red can with silver bottom, place it in the brown basket, and lift the brown basket upwards.", + "Place the Coca-Cola soda can in the basket for holding items and then use another arm to lift the basket for holding items.", + "Pick the rounded red Coca-Cola soda container with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Drop the Coca-Cola can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Pick up the red can with smooth metallic texture with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Lift the metallic red beverage can, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Use the left arm to grab the red can with white lettering, place it in the brown basket, and lift the brown basket.", + "Hold the hand-sized red can for drinks using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the Coca-Cola can using the left arm, drop the Coca-Cola can into the woven basket and lift the woven basket.", + "Grab the rounded red Coca-Cola soda container with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Lift the metallic red beverage can, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the Coca-Cola soda can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Grab the Coca-Cola soda can, drop it into the basket for holding items, and raise the basket for holding items.", + "Lift the metallic red beverage can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Use the left arm to take the smooth red can with silver bottom, drop it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to pick the hand-sized red can for drinks, place it inside the woven basket, then lift the woven basket.", + "Use the left arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the light brown oval basket, and lift the light brown oval basket.", + "Grab the rounded red Coca-Cola soda container, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Use the left arm to grab the metallic red beverage can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Take the metallic red beverage can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick the Coca-Cola soda can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the rounded red Coca-Cola soda container, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick up the red can with smooth metallic texture, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the smooth red can with silver bottom, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Grab the red cylindrical can with silver top, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Lift the rounded red Coca-Cola soda container, set it in the brown basket, and elevate the brown basket.", + "Pick up the red cylindrical can with silver top, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the smooth red can with silver bottom using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Pick up the red can with white Coca-Cola logo, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the cylindrical red drink can with logo, put it in the woven basket, and carry the woven basket afterward.", + "Grab the metallic red beverage can, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Place the hand-sized red can for drinks in the brown basket and then lift the brown basket.", + "Pick up the rounded red Coca-Cola soda container, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the metallic red beverage can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Take the smooth red can with silver bottom, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab and drop the Coca-Cola soda can in the brown basket, lift the brown basket.", + "Lift the red cylindrical can with silver top with the left arm, set it in the brown basket, and lift with another arm.", + "Pick the cylindrical red drink can with logo, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the cylindrical red drink can with logo, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Use the left arm for the red can with white Coca-Cola logo, place the red can with white Coca-Cola logo in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the Coca-Cola can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Place the Coca-Cola can inside the brown basket, then lift the brown basket.", + "Use the left arm to grab the small aluminum red drink can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Use the left arm to grab the smooth red can with silver bottom and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Take the Coca-Cola soda can, set it into the basket for holding items, and raise the basket for holding items.", + "Take the red can with smooth metallic texture and put it in the basket with loop handle, then lift the basket with loop handle.", + "Use the same arm to grab the red cylindrical can with silver top, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Grab the Coca-Cola soda can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Pick the smooth red can with silver bottom with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick the red can with smooth metallic texture with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the red can with white Coca-Cola logo, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Place the small aluminum red drink can in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Pick the Coca-Cola can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Drop the rounded red Coca-Cola soda container into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Pick up the Coca-Cola soda can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Lift the cylindrical red drink can with logo, place it in the basket for holding items, and raise the basket for holding items.", + "Use the left arm to grab the red can with white lettering, place it in the light brown oval basket, and lift the light brown oval basket.", + "Hold the red can with white Coca-Cola logo using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the red can with white Coca-Cola logo using the left arm, drop the red can with white Coca-Cola logo into the basket for holding items and lift the basket for holding items.", + "Grab the red can with white Coca-Cola logo with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Lift the Coca-Cola soda can, place it inside the woven basket, and elevate the woven basket.", + "Pick up the cylindrical red drink can with logo, put it into the basket with loop handle, and lift the basket with loop handle.", + "Grab the red can with white lettering, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Lift the Coca-Cola can, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Use the left arm to take the small aluminum red drink can, drop it in the brown basket, and lift the brown basket.", + "Use the left arm to pick the small aluminum red drink can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to hold the small aluminum red drink can, drop the small aluminum red drink can into the basket with loop handle, and lift the basket with loop handle.", + "Grab the small aluminum red drink can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Use the left arm to grab the cylindrical red drink can with logo, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Take the red can with smooth metallic texture with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick the red cylindrical can with silver top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Grab the small aluminum red drink can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Pick up the cylindrical red drink can with logo, put it in the basket with handle, and lift the basket with handle.", + "Grab the red can with white lettering, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm." + ], + "unseen": [ + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..8389484c4024b775edd43cd4912030ba2dff3850 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bright red drink container can, put it in the woven basket, then raise the woven basket.", + "Lift the compact metal drink can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Grab the palm-sized drink can using the left arm, drop the palm-sized drink can into the woven basket and lift the woven basket.", + "Grab and drop the red can with gold illustrations in the woven basket, lift the woven basket.", + "Grab the bright red drink container can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Take the bright red drink container can, place it into the brown basket, then lift the brown basket.", + "Grab the palm-sized drink can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Place the red beverage can with curved top in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Grab the red beverage can with curved top, drop it into the woven basket, then use another arm for the woven basket.", + "Lift the metallic soda can, put it in the basket with handle, and carry the basket with handle afterward.", + "Grab the metallic can with rounded edges with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the gold patterned beverage can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the palm-sized drink can, place it into the woven basket, and lift the woven basket using the other arm.", + "Drop the red and gold cylindrical can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Take the smooth red soda can, set it into the woven basket, and raise the woven basket.", + "Pick the smooth red soda can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Place the palm-sized drink can in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Lift the gold-decorated aluminum can, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Grab the gold-decorated aluminum can, set it into the basket for holding items, then raise the basket for holding items.", + "Use the left arm for the smooth red soda can, place the smooth red soda can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to take the red can with gold illustrations, drop it in the basket for holding items, and lift the basket for holding items.", + "Pick the gold patterned beverage can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Place the gold-decorated aluminum can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to hold the bright red drink container can, drop the bright red drink container can into the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the metallic soda can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Use the left arm to grab the metallic soda can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Take the compact metal drink can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the metallic can with rounded edges, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Pick the palm-sized drink can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm to pick the bright red drink container can, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Pick the red beverage can with curved top, set it in the basket with loop handle, then lift the basket with loop handle.", + "Use the same arm to grab the gold-decorated aluminum can, place in the basket with handle, and then lift the basket with handle.", + "Grab the metallic can with rounded edges, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Take the gold patterned beverage can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Pick up the smooth red soda can with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Use the left arm to grab the gold patterned beverage can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the gold patterned beverage can, place it in the brown basket, and lift the brown basket upwards.", + "Pick the compact metal drink can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the red can with gold illustrations, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick up the compact metal drink can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the red and gold cylindrical can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the gold patterned beverage can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the red and gold cylindrical can, place it in the light brown oval basket, and raise the light brown oval basket.", + "Pick up the red can with gold illustrations, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Hold the metallic soda can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the red beverage can with curved top, put it in the basket with handle, and lift the basket with handle.", + "Pick the compact metal drink can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Lift the gold-decorated aluminum can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Lift the red can with gold illustrations with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Lift the metallic soda can, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Grab the palm-sized drink can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Lift the red beverage can with curved top, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Grab the red and gold cylindrical can using the left arm, drop the red and gold cylindrical can into the woven basket and lift the woven basket.", + "Grab and drop the gold-decorated aluminum can in the brown basket, lift the brown basket.", + "Grab the red can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Take the palm-sized drink can, place it into the woven basket, then lift the woven basket.", + "Grab the red beverage can with curved top, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Place the smooth red soda can in the basket with handle and then use another arm to lift the basket with handle.", + "Grab the smooth red soda can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Lift the metallic soda can, put it in the woven basket, and carry the woven basket afterward.", + "Grab the red and gold cylindrical can with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the metallic soda can, set it inside the woven basket, then lift the woven basket.", + "Use the left arm to grab the red can with gold illustrations, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Drop the smooth red soda can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Take the red can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the gold patterned beverage can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Place the compact metal drink can in the basket made of woven wood and then lift the basket made of woven wood.", + "Lift the red can with gold illustrations, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Grab the red beverage can with curved top, set it into the basket with handle, then raise the basket with handle.", + "Use the left arm for the red can, place the red can in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to take the red can with gold illustrations, drop it in the brown basket, and lift the brown basket.", + "Pick the red beverage can with curved top with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the metallic can with rounded edges inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to hold the red can with gold illustrations, drop the red can with gold illustrations into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the gold-decorated aluminum can, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Use the left arm to grab the metallic can with rounded edges and place in the basket for holding items, lift the basket for holding items with another arm.", + "Take the red can with gold illustrations with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Use the left arm to grab the metallic can with rounded edges, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Pick the smooth red soda can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the left arm to pick the smooth red soda can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Pick the red can with gold illustrations, set it in the basket for carrying things, then lift the basket for carrying things.", + "Use the same arm to grab the palm-sized drink can, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Grab the gold patterned beverage can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Take the red can in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Pick up the gold patterned beverage can with the left arm, place into the brown basket, the other arm raises the brown basket.", + "Use the left arm to grab the compact metal drink can, place it in the basket for holding items, and lift the basket for holding items.", + "Grab the smooth red soda can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick the metallic can with rounded edges with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick up the smooth red soda can, place it into the basket with handle, then lift the basket with handle.", + "Pick up the red can with gold illustrations using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Take the red can with gold illustrations and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the red and gold cylindrical can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the compact metal drink can, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Pick up the gold-decorated aluminum can, put it into the basket for holding items, and lift the basket for holding items.", + "Hold the palm-sized drink can using the left arm, place it in the woven basket, and lift the woven basket.", + "Pick up the bright red drink container can, put it in the woven basket, and lift the woven basket.", + "Pick the gold patterned beverage can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the red can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Lift the red beverage can with curved top with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Lift the red can with gold illustrations, set it in the basket with loop handle, and elevate the basket with loop handle." + ], + "unseen": [ + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..4612a2a023f7c24b824b71349f4ebfe0c6f52480 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the drink can with light brown shade, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick the drink can with light brown shade using the left arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the brown can using the left arm, drop the brown can into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Pick the small cylindrical drink container with the left arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the left arm for the smooth brown can with rounded edges, place the smooth brown can with rounded edges in the plastic basket, and lift the plastic basket.", + "Grab the brown can, set it into the basket with black handle, then raise the basket with black handle.", + "Grab the small cylindrical drink container, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the metal can with printed white graphics and put it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the rounded metallic can, drop it into the handheld basket, then carry the handheld basket.", + "Pick the small light brown cylindrical can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the hand-sized metallic can, place it into the basket with black handle, then lift the basket with black handle.", + "Take the smooth brown can with rounded edges, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the rounded metallic can in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Lift the brown can, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Place the small cylindrical drink container in the plastic basket and then use another arm to lift the plastic basket.", + "Grab and drop the metal can with white decorative designs in the yellow basket, lift the yellow basket.", + "Hold the smooth light brown can using the left arm, place it in the plastic basket, and lift the plastic basket.", + "Lift the light brown can with smooth texture with the left arm, set it in the yellow basket, and lift with another arm.", + "Lift the metal can with white decorative designs, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the brown can, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the white patterned brown metal can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the left arm to grab the small light brown cylindrical can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Drop the smooth light brown can into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Grab the smooth light brown can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the left arm to grab the hand-sized metallic can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick the rounded metallic can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the metal can with printed white graphics with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the rounded metallic can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Grab the smooth light brown can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the small cylindrical drink container with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the hand-sized metallic can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Use the left arm to pick the smooth light brown can, place it inside the plastic basket, then lift the plastic basket.", + "Pick up the metal can with printed white graphics, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the white patterned brown metal can, put it into the handheld basket, and lift the handheld basket.", + "Take the brown can, place it into the yellow basket, then lift the yellow basket.", + "Lift the rounded metallic can, place it in the yellow basket, and raise the yellow basket.", + "Pick up the hand-sized metallic can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Place the metal can with white decorative designs inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the left arm to grab the small cylindrical drink container, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the metal can with white decorative designs, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the metal can with printed white graphics, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick the metal can with white decorative designs with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the left arm to hold the brown can, drop the brown can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the white patterned brown metal can with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Place the smooth light brown can in the bright yellow basket and then lift the bright yellow basket.", + "Use the left arm to grab the drink can with light brown shade, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Use the same arm to grab the small cylindrical drink container, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the left arm to take the metal can with white decorative designs, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the smooth brown can with rounded edges with the left arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the light brown can with smooth texture, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Pick the drink can with light brown shade using the left arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the drink can with light brown shade using the left arm, drop the drink can with light brown shade into the yellow basket and lift the yellow basket.", + "Pick the small cylindrical drink container with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm for the metal can with white decorative designs, place the metal can with white decorative designs in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the smooth brown can with rounded edges, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the small cylindrical drink container, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the smooth brown can with rounded edges and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the small light brown cylindrical can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick the metal can with white decorative designs, set it in the handheld basket, and lift the handheld basket upward.", + "Pick up the white patterned brown metal can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the drink can with light brown shade, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Take the small cylindrical drink container in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Lift the rounded metallic can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Place the brown can in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Grab and drop the drink can with light brown shade in the basket with black handle, lift the basket with black handle.", + "Hold the smooth light brown can using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the white patterned brown metal can with the left arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Lift the metal can with white decorative designs, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick up the small cylindrical drink container, place it in the plastic basket, and then lift the plastic basket.", + "Lift the rounded metallic can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Use the left arm to grab the hand-sized metallic can, place it in the basket with black handle, and lift the basket with black handle.", + "Drop the metal can with printed white graphics into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Grab the white patterned brown metal can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the left arm to grab the white patterned brown metal can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick the metal can with white decorative designs, set it in the basket with black handle, then lift the basket with black handle.", + "Pick up the rounded metallic can with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the small cylindrical drink container, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Grab the metal can with printed white graphics, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the light brown can with smooth texture with the left arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the hand-sized metallic can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Use the left arm to pick the hand-sized metallic can, place it inside the handheld basket, then lift the handheld basket.", + "Pick up the smooth brown can with rounded edges, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the light brown can with smooth texture, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the rounded metallic can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the light brown can with smooth texture, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick up the drink can with light brown shade, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Place the white patterned brown metal can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm to grab the drink can with light brown shade, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Grab the small cylindrical drink container, drop it into the handheld basket, and raise the handheld basket.", + "Grab the smooth light brown can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick the rounded metallic can with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the left arm to hold the rounded metallic can, drop the rounded metallic can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the small light brown cylindrical can with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Place the metal can with white decorative designs in the basket with black handle and then lift the basket with black handle.", + "Use the left arm to grab the metal can with white decorative designs, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Use the same arm to grab the small light brown cylindrical can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the left arm to take the light brown can with smooth texture, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the rounded metallic can with the left arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..977e6992cf9724f35e9fa836837b476e68636b15 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the can with red green label, place it into the basket with handle, then lift the basket with handle.", + "Take the metallic drink can with pull-tab, set it into the brown basket, and raise the brown basket.", + "Pick up the can with red green label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the metallic drink can with pull-tab in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the green red metallic soda can with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Hold the red green beverage can using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the metal can with pull-tab top, place it in the brown basket, and lift the brown basket upwards.", + "Use the right arm to take the soda can with lime illustration, drop it in the woven basket, and lift the woven basket.", + "Take the red green can with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the soda can with lime illustration with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the can with red green label using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick up the smooth cylindrical can with lime pattern, put it in the woven basket, and lift the woven basket.", + "Use the right arm to grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the red green beverage can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the soda can with lime illustration, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the woven basket, and lift the woven basket.", + "Grab the colorful can with lime and orange design, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the can with red green label, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Use the right arm to pick the can with red green label, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the soda can with lime illustration, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Lift the beverage can with red green graphics, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Drop the can with red green label into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Place the smooth cylindrical can with lime pattern in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Grab and drop the green red metallic soda can in the basket for carrying things, lift the basket for carrying things.", + "Lift the colorful can with lime and orange design, put it in the basket with handle, and carry the basket with handle afterward.", + "Use the same arm to grab the small soda can with lime graphics, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the red green beverage can, set it in the basket with handle, and elevate the basket with handle.", + "Take the red green beverage can and put it in the basket with handle, then lift the basket with handle.", + "Pick up the smooth cylindrical can with lime pattern, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick the metallic drink can with pull-tab, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the red green beverage can, drop it into the basket with handle, and raise the basket with handle.", + "Use the right arm to grab the metal can with pull-tab top, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Pick the green red metallic soda can with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the metal can with pull-tab top, set it into the woven basket, then raise the woven basket.", + "Grab the colorful can with lime and orange design, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Place the red green can in the basket made of woven wood and then lift the basket made of woven wood.", + "Lift the red green beverage can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Pick up the red green can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the green red metallic soda can inside the woven basket, then lift the woven basket.", + "Lift the colorful can with lime and orange design with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Grab the green red metallic soda can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the basket for holding items, and lift the basket for holding items.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Grab the can with red green label using the right arm, drop the can with red green label into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Lift the can with red green label, place it in the basket with loop handle, and raise the basket with loop handle.", + "Pick up the can with red green label using the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the right arm to grab the beverage can with red green graphics and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the metal can with pull-tab top, place it into the basket with handle, then lift the basket with handle.", + "Take the smooth cylindrical can with lime pattern, set it into the light brown oval basket, and raise the light brown oval basket.", + "Pick up the metallic drink can with pull-tab, put it into the basket for carrying things, and lift the basket for carrying things.", + "Take the metal can with pull-tab top in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Grab the colorful can with lime and orange design with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Hold the green red metallic soda can using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the soda can with lime illustration, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the right arm to take the small soda can with lime graphics, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the metal can with pull-tab top with the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick the colorful can with lime and orange design with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick the drink can with bright colors using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the colorful can with lime and orange design, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to grab the metal can with pull-tab top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the red green beverage can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Lift the can with red green label, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Use the right arm for the red green beverage can, place the red green beverage can in the basket with handle, and lift the basket with handle.", + "Grab the beverage can with red green graphics, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Grab the green red metallic soda can, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Use the right arm to pick the beverage can with red green graphics, place it inside the basket for holding items, then lift the basket for holding items.", + "Pick the small soda can with lime graphics, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Use the right arm to grab the red green can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Lift the red green can, drop it into the basket with handle, then carry the basket with handle.", + "Drop the soda can with lime illustration into the basket made of woven wood using the right arm, then lift the basket made of woven wood with another arm.", + "Place the can with red green label in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Grab and drop the beverage can with red green graphics in the light brown oval basket, lift the light brown oval basket.", + "Lift the colorful can with lime and orange design, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Use the same arm to grab the beverage can with red green graphics, place in the basket with handle, and then lift the basket with handle.", + "Lift the beverage can with red green graphics, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Take the red green beverage can and put it in the woven basket, then lift the woven basket.", + "Pick up the can with red green label, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the drink can with bright colors, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Pick the green red metallic soda can, set it in the woven basket, then lift the woven basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the right arm to grab the green red metallic soda can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab the colorful can with lime and orange design, set it into the basket for carrying things, then raise the basket for carrying things.", + "Grab the metal can with pull-tab top, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Place the beverage can with red green graphics in the basket made of woven wood and then lift the basket made of woven wood.", + "Lift the small soda can with lime graphics, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Pick up the red green beverage can, place it into the woven basket, then lift the woven basket.", + "Place the colorful can with lime and orange design inside the basket for holding items, then lift the basket for holding items.", + "Lift the can with red green label with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Grab the green red metallic soda can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the right arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the basket for carrying things, and lift the basket for carrying things.", + "Pick the colorful can with lime and orange design with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the smooth cylindrical can with lime pattern using the right arm, drop the smooth cylindrical can with lime pattern into the light brown oval basket and lift the light brown oval basket.", + "Lift the green red metallic soda can, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Pick up the red green can using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the right arm to grab the drink can with bright colors and place in the basket with handle, lift the basket with handle with another arm." + ], + "unseen": [ + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3f4d0fbfb03a7acd26608c62da190442012382 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the metallic red beverage can in the bright yellow basket and then lift the bright yellow basket.", + "Drop the red can with smooth metallic texture into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Lift the metallic red beverage can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the small aluminum red drink can, set it inside the plastic basket, then lift the plastic basket.", + "Take the smooth red can with silver bottom and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the smooth red can with silver bottom with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the left arm for the Coca-Cola soda can, place the Coca-Cola soda can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the red can with white Coca-Cola logo in the left arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Pick up the red can with white Coca-Cola logo using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the rounded red Coca-Cola soda container, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the left arm to grab the smooth red can with silver bottom, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the metallic red beverage can using the left arm, drop the metallic red beverage can into the basket with perforated sides and lift the basket with perforated sides.", + "Use the left arm to hold the red can with smooth metallic texture, drop the red can with smooth metallic texture into the bright yellow basket, and lift the bright yellow basket.", + "Lift the smooth red can with silver bottom with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the Coca-Cola can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Pick the cylindrical red drink can with logo with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Lift the red cylindrical can with silver top, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Place the cylindrical red drink can with logo in the basket with black handle and then use another arm to lift the basket with black handle.", + "Pick up the red can with smooth metallic texture with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the red can with smooth metallic texture, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Take the rounded red Coca-Cola soda container with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the metallic red beverage can, set it in the handheld basket, then lift the handheld basket.", + "Lift the red cylindrical can with silver top, place it in the basket with black handle, and raise the basket with black handle.", + "Grab the red cylindrical can with silver top, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the hand-sized red can for drinks, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the cylindrical red drink can with logo, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the small aluminum red drink can, put it in the basket with black handle, then raise the basket with black handle.", + "Pick the smooth red can with silver bottom using the left arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the left arm to grab the hand-sized red can for drinks, put it into the yellow basket, and lift the yellow basket with another arm.", + "Use the left arm to take the cylindrical red drink can with logo, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the rounded red Coca-Cola soda container, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the red cylindrical can with silver top, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Hold the hand-sized red can for drinks using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the red can with smooth metallic texture, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the left arm to grab the small aluminum red drink can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Grab the rounded red Coca-Cola soda container, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the small aluminum red drink can with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab and drop the small aluminum red drink can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the left arm to pick the red can with white Coca-Cola logo, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the smooth red can with silver bottom, put it in the plastic basket, and lift the plastic basket.", + "Pick the metallic red beverage can with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Grab the red cylindrical can with silver top, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Place the small aluminum red drink can inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the cylindrical red drink can with logo, place it into the handheld basket, then lift the handheld basket.", + "Lift the cylindrical red drink can with logo, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Lift the cylindrical red drink can with logo, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the rounded red Coca-Cola soda container, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the red can with white lettering, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the small aluminum red drink can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Use the left arm to grab the red cylindrical can with silver top, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Place the cylindrical red drink can with logo in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Drop the small aluminum red drink can into the basket with arched black grip using the left arm, then lift the basket with arched black grip with another arm.", + "Lift the hand-sized red can for drinks, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Pick up the Coca-Cola can, set it inside the basket with black handle, then lift the basket with black handle.", + "Take the red can with white lettering and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the Coca-Cola can with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the left arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the handheld basket, and lift the handheld basket.", + "Take the red can with smooth metallic texture in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick up the red cylindrical can with silver top using the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Take the red can with white Coca-Cola logo, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the left arm to grab the hand-sized red can for drinks, place it in the yellow basket, and lift the yellow basket.", + "Grab the cylindrical red drink can with logo using the left arm, drop the cylindrical red drink can with logo into the bright yellow basket and lift the bright yellow basket.", + "Use the left arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the yellow basket, and lift the yellow basket.", + "Lift the red can with white Coca-Cola logo with the left arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Grab the red can with white lettering, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Pick the cylindrical red drink can with logo with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Lift the red can with white lettering, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Place the cylindrical red drink can with logo in the handheld basket and then use another arm to lift the handheld basket.", + "Pick up the metallic red beverage can with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the hand-sized red can for drinks, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Take the red can with smooth metallic texture with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the cylindrical red drink can with logo, set it in the basket with black handle, then lift the basket with black handle.", + "Lift the red can with white Coca-Cola logo, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the Coca-Cola can, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the red can with smooth metallic texture, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the hand-sized red can for drinks, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the small aluminum red drink can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick the small aluminum red drink can using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the left arm to grab the red can with smooth metallic texture, put it into the yellow basket, and lift the yellow basket with another arm.", + "Use the left arm to take the red can with white Coca-Cola logo, drop it in the basket with black handle, and lift the basket with black handle.", + "Pick up the Coca-Cola soda can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the small aluminum red drink can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Hold the hand-sized red can for drinks using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the metallic red beverage can, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the left arm to grab the Coca-Cola can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the Coca-Cola can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the hand-sized red can for drinks with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab and drop the red can with white Coca-Cola logo in the basket with perforated sides, lift the basket with perforated sides.", + "Use the left arm to pick the small aluminum red drink can, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the Coca-Cola soda can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the Coca-Cola can with the left arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the red can with white lettering, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Place the smooth red can with silver bottom inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the red can with white Coca-Cola logo, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the Coca-Cola soda can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the hand-sized red can for drinks, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the Coca-Cola soda can, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Grab the Coca-Cola can, set it into the basket with black handle, then raise the basket with black handle.", + "Grab the red can with white lettering, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Use the left arm to grab the smooth red can with silver bottom, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm." + ], + "unseen": [ + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..710ff7f01b5c36dd45e5690354c6c3b2083cd865 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the drink can with light brown shade, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to take the hand-sized metallic can, drop it in the basket with handle, and lift the basket with handle.", + "Grab the light brown can with smooth texture, drop it into the woven basket, then use another arm for the woven basket.", + "Use the left arm for the brown can, place the brown can in the basket for holding items, and lift the basket for holding items.", + "Take the metal can with white decorative designs in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Take the metal can with printed white graphics with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Take the smooth light brown can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Hold the white patterned brown metal can using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the hand-sized metallic can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the brown can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Grab and drop the white patterned brown metal can in the woven basket, lift the woven basket.", + "Pick up the small cylindrical drink container, put it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the metal can with printed white graphics, drop it into the brown basket, and raise the brown basket with the other arm.", + "Grab the smooth brown can with rounded edges, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Lift the rounded metallic can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Drop the small cylindrical drink container into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Lift the rounded metallic can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Place the brown can in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick the smooth brown can with rounded edges, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the brown can, place it in the woven basket, and raise the woven basket using the other arm.", + "Pick up the light brown can with smooth texture using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the white patterned brown metal can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the hand-sized metallic can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the metal can with white decorative designs with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the metal can with printed white graphics with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Lift the small light brown cylindrical can, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Place the smooth brown can with rounded edges in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Grab the small light brown cylindrical can with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the same arm to grab the small light brown cylindrical can, place in the brown basket, and then lift the brown basket.", + "Grab the light brown can with smooth texture, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the smooth brown can with rounded edges, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the woven basket, and lift the woven basket.", + "Grab the brown can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Use the left arm to grab the small cylindrical drink container, put it into the brown basket, and lift the brown basket with another arm.", + "Lift the small light brown cylindrical can with the left arm, set it in the brown basket, and lift with another arm.", + "Lift the small light brown cylindrical can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the small cylindrical drink container, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Lift the brown can, put it in the brown basket, and carry the brown basket afterward.", + "Pick up the rounded metallic can, place it in the basket with handle, and then lift the basket with handle.", + "Pick up the brown can, put it into the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to pick the light brown can with smooth texture, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth brown can with rounded edges using the left arm, drop the smooth brown can with rounded edges into the brown basket and lift the brown basket.", + "Place the metal can with white decorative designs inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the metal can with printed white graphics, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Take the hand-sized metallic can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the left arm to grab the metal can with white decorative designs and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Lift the brown can, place it in the brown basket, and raise the brown basket.", + "Pick the small light brown cylindrical can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Grab the drink can with light brown shade, place it in the brown basket, and lift the brown basket upwards.", + "Pick up the white patterned brown metal can, set it inside the woven basket, then lift the woven basket.", + "Pick up the smooth light brown can, place it into the brown basket, then lift the brown basket.", + "Use the left arm to take the hand-sized metallic can, drop it in the brown basket, and lift the brown basket.", + "Grab the metal can with printed white graphics, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Use the left arm for the hand-sized metallic can, place the hand-sized metallic can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the small cylindrical drink container in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Take the smooth brown can with rounded edges with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Take the smooth brown can with rounded edges and put it in the basket for holding items, then lift the basket for holding items.", + "Hold the white patterned brown metal can using the left arm, place it in the woven basket, and lift the woven basket.", + "Take the small cylindrical drink container, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the drink can with light brown shade with the left arm, set it in the woven basket, and lift the woven basket using another arm.", + "Grab and drop the brown can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the white patterned brown metal can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the smooth light brown can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Grab the metal can with printed white graphics, drop it into the basket for holding items, and raise the basket for holding items.", + "Lift the small cylindrical drink container, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Drop the light brown can with smooth texture into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.", + "Lift the metal can with printed white graphics, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Place the hand-sized metallic can in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick the smooth light brown can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Grab the small light brown cylindrical can, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick the metal can with printed white graphics using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Pick the metal can with white decorative designs with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick the metal can with printed white graphics with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the small light brown cylindrical can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Lift the metal can with printed white graphics, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Place the hand-sized metallic can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Grab the light brown can with smooth texture with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the basket for holding items, and then lift the basket for holding items.", + "Grab the light brown can with smooth texture, place it in the brown basket, and then lift the brown basket.", + "Use the left arm to grab the smooth light brown can, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the small light brown cylindrical can, set it into the brown basket, then raise the brown basket.", + "Use the left arm to grab the small light brown cylindrical can, put it into the woven basket, and lift the woven basket with another arm.", + "Lift the drink can with light brown shade with the left arm, set it in the brown basket, and lift with another arm.", + "Lift the smooth brown can with rounded edges, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the rounded metallic can, put it in the basket with handle, then raise the basket with handle.", + "Lift the drink can with light brown shade, put it in the woven basket, and carry the woven basket afterward.", + "Pick up the metal can with white decorative designs, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the metal can with printed white graphics, put it into the basket with handle, and lift the basket with handle.", + "Use the left arm to pick the light brown can with smooth texture, place it inside the basket for holding items, then lift the basket for holding items.", + "Grab the metal can with printed white graphics using the left arm, drop the metal can with printed white graphics into the basket with loop handle and lift the basket with loop handle.", + "Place the metal can with white decorative designs inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the small cylindrical drink container, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Take the metal can with white decorative designs, place it into the woven basket, then lift the woven basket.", + "Use the left arm to grab the smooth light brown can and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Lift the drink can with light brown shade, place it in the brown basket, and raise the brown basket.", + "Pick the metal can with white decorative designs, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Grab the white patterned brown metal can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Pick up the white patterned brown metal can, set it inside the basket with loop handle, then lift the basket with loop handle." + ], + "unseen": [ + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..628b19821ed5534c5a33bfa430de78b1e6be4e5f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red beverage can with curved top, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Grab the bright red drink container can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the same arm to grab the red can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Place the metallic soda can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Take the bright red drink container can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick up the metallic can with rounded edges with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Grab the red beverage can with curved top, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Grab the red beverage can with curved top, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Lift the red can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the gold patterned beverage can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick the gold patterned beverage can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to grab the bright red drink container can and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the gold-decorated aluminum can, put it in the plastic basket, then raise the plastic basket.", + "Pick the metallic soda can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the red can, place it in the yellow basket, and lift the yellow basket.", + "Lift the bright red drink container can, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Lift the compact metal drink can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Pick up the red beverage can with curved top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the gold patterned beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the compact metal drink can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the metallic soda can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Use the right arm to pick the red can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the bright red drink container can, drop it into the basket with black handle, and raise the basket with black handle.", + "Grab the compact metal drink can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick the red can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Place the palm-sized drink can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the metallic can with rounded edges, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Place the gold-decorated aluminum can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Pick up the smooth red soda can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to take the gold patterned beverage can, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the compact metal drink can, place it in the yellow basket, and then lift the yellow basket.", + "Drop the red and gold cylindrical can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Lift the metallic can with rounded edges with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Grab the red beverage can with curved top using the right arm, drop the red beverage can with curved top into the basket with arched black grip and lift the basket with arched black grip.", + "Pick the compact metal drink can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the compact metal drink can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the red and gold cylindrical can with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Hold the metallic can with rounded edges using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the smooth red soda can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Take the metallic soda can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the metallic soda can using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick the compact metal drink can with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the palm-sized drink can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab and drop the metallic soda can in the basket with black handle, lift the basket with black handle.", + "Pick up the red can with gold illustrations, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the red beverage can with curved top, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick the red can with gold illustrations, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Take the bright red drink container can and put it in the handheld basket, then lift the handheld basket.", + "Lift the bright red drink container can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the red beverage can with curved top, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Use the same arm to grab the palm-sized drink can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the gold-decorated aluminum can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the gold patterned beverage can in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick up the gold-decorated aluminum can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the bright red drink container can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Grab the red and gold cylindrical can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the gold-decorated aluminum can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the metallic can with rounded edges with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the red can with gold illustrations using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm to grab the palm-sized drink can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the metallic can with rounded edges, put it in the plastic basket, then raise the plastic basket.", + "Pick the red can with gold illustrations with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Use the right arm to hold the compact metal drink can, drop the compact metal drink can into the handheld basket, and lift the handheld basket.", + "Use the right arm to grab the metallic soda can, place it in the plastic basket, and lift the plastic basket.", + "Lift the red and gold cylindrical can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Lift the red beverage can with curved top, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the smooth red soda can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the metallic soda can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the bright red drink container can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the plastic basket, then lift the plastic basket.", + "Grab the metallic can with rounded edges, drop it into the handheld basket, and raise the handheld basket.", + "Grab the gold-decorated aluminum can, place it in the handheld basket, and then lift the handheld basket.", + "Pick the smooth red soda can, set it in the yellow basket, and lift the yellow basket upward.", + "Place the compact metal drink can inside the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the gold patterned beverage can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Place the red beverage can with curved top in the handheld basket and then use another arm to lift the handheld basket.", + "Pick up the bright red drink container can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to take the gold patterned beverage can, drop it in the plastic basket, and lift the plastic basket.", + "Pick up the red can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Drop the gold patterned beverage can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Lift the metallic soda can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the smooth red soda can using the right arm, drop the smooth red soda can into the yellow basket and lift the yellow basket.", + "Pick the smooth red soda can with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Take the compact metal drink can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the compact metal drink can with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Hold the bright red drink container can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Take the bright red drink container can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the smooth red soda can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the compact metal drink can with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Grab the compact metal drink can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab and drop the gold patterned beverage can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Pick up the red beverage can with curved top, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the gold patterned beverage can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick the metallic can with rounded edges, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the red can and put it in the basket with black handle, then lift the basket with black handle." + ], + "unseen": [ + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..3af4e66cfef59bf1527ca63370dc193d0a711cb3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal can with red base, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Take the red and white beverage can in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Pick the smooth red can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the smooth red can, set it into the yellow basket, and raise the yellow basket.", + "Grab the cylindrical can with flat surfaces, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the can with flat silver bottom, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Place the cylindrical metal can in the basket with black handle and then lift the basket with black handle.", + "Take the cylindrical can with flat surfaces with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Grab the red and white beverage can, put it in the basket with black handle, then raise the basket with black handle.", + "Grab the red drink can with white lid with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the red drink can with white lid using the right arm, drop the red drink can with white lid into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Pick up the red drink can with white lid, put it into the plastic basket, and lift the plastic basket.", + "Take the smooth red can and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Hold the red and white beverage can using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the red and white beverage can, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Lift the red drink can with white lid, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Take the red soda can with green accents, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red shiny can with green label with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Pick up the medium-sized soda can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the metal can with red base, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the can with flat silver bottom with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the red and white beverage can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick the cylindrical metal can using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Pick the drink can with smooth red finish with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the red can with decorative label, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the red soda can with green accents with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Lift the red can with decorative label, place it inside the handheld basket, and elevate the handheld basket.", + "Use the right arm for the red shiny can with green label, place the red shiny can with green label in the basket with black handle, and lift the basket with black handle.", + "Pick up the drink can with smooth red finish, put it in the basket with black handle, and lift the basket with black handle.", + "Place the red drink can with white lid inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the smooth red can, place it into the plastic basket, then lift the plastic basket.", + "Grab the cylindrical metal can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the red and white beverage can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Use the right arm to grab the smooth red can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red shiny can with green label, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Use the right arm to grab the smooth red can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the drink can with smooth red finish, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the drink can with smooth red finish, set it in the plastic basket, then lift the plastic basket.", + "Grab the red soda can with green accents, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Grab and drop the drink can with smooth red finish in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the right arm to grab the cylindrical metal can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the can with flat silver bottom, set it in the handheld basket, and elevate the handheld basket.", + "Place the red and white beverage can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the same arm to grab the red and white beverage can, place in the plastic basket, and then lift the plastic basket.", + "Drop the cylindrical metal can into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to take the red soda can with green accents, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the smooth red can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Pick up the red and white beverage can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the red drink can with white lid, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Take the red shiny can with green label in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick the cylindrical can with flat surfaces with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Take the cylindrical can with flat surfaces, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the drink can with smooth red finish, place it in the handheld basket, and lift the handheld basket upwards.", + "Use the right arm to pick the medium-sized soda can, place it inside the yellow basket, then lift the yellow basket.", + "Grab the can with flat silver bottom, drop it into the yellow basket, then use another arm for the yellow basket.", + "Place the cylindrical can with flat surfaces in the plastic basket and then lift the plastic basket.", + "Take the red soda can with green accents with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the drink can with smooth red finish, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the medium-sized soda can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the cylindrical metal can using the right arm, drop the cylindrical metal can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the red soda can with green accents, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the cylindrical metal can and put it in the handheld basket, then lift the handheld basket.", + "Hold the red shiny can with green label using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the drink can with smooth red finish, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Lift the smooth red can, put it in the plastic basket, and carry the plastic basket afterward.", + "Take the smooth red can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red drink can with white lid with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick up the smooth red can, set it inside the plastic basket, then lift the plastic basket.", + "Lift the can with flat silver bottom, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the red drink can with white lid with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the red soda can with green accents, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Pick the red can with decorative label using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Pick up the drink can with smooth red finish, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the smooth red can with the right arm, set it in the yellow basket, and lift with another arm.", + "Lift the smooth red can, place it inside the handheld basket, and elevate the handheld basket.", + "Use the right arm for the red and white beverage can, place the red and white beverage can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the smooth red can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the red soda can with green accents inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to hold the medium-sized soda can, drop the medium-sized soda can into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the medium-sized soda can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the cylindrical metal can, set it into the basket with black handle, then raise the basket with black handle.", + "Lift the cylindrical metal can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Use the right arm to grab the smooth red can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the cylindrical can with flat surfaces, set it in the yellow basket, and lift the yellow basket upward.", + "Use the right arm to grab the red drink can with white lid, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Grab the cylindrical metal can, drop it into the plastic basket, and raise the plastic basket.", + "Pick the red soda can with green accents, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Grab and drop the red shiny can with green label in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the right arm to grab the cylindrical can with flat surfaces and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the can with flat silver bottom, set it in the plastic basket, and elevate the plastic basket.", + "Place the smooth red can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the same arm to grab the smooth red can, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Drop the smooth red can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Use the right arm to take the smooth red can, drop it in the yellow basket, and lift the yellow basket.", + "Lift the medium-sized soda can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Pick up the cylindrical metal can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm." + ], + "unseen": [ + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..946258238207a0b31902569bf563fccb85fd38ee --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the metal can with pull-tab top using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the colorful can with lime and orange design with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Pick up the red green can, place it into the basket with handle, then lift the basket with handle.", + "Place the green red metallic soda can inside the basket for carrying things, then lift the basket for carrying things.", + "Use the same arm to grab the small soda can with lime graphics, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the colorful can with lime and orange design using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Grab the green red metallic soda can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Lift the red green beverage can with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Place the red green can in the basket with loop handle and then lift the basket with loop handle.", + "Grab the metallic drink can with pull-tab, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Lift the drink can with bright colors, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Lift the beverage can with red green graphics, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Place the small soda can with lime graphics in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Lift the red green can, place it in the basket with handle, and raise the basket with handle.", + "Take the drink can with bright colors, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the beverage can with red green graphics with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Pick the green red metallic soda can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the colorful can with lime and orange design, set it into the brown basket, then raise the brown basket.", + "Pick up the drink can with bright colors, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the drink can with bright colors and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Grab and drop the red green can in the basket made of woven wood, lift the basket made of woven wood.", + "Grab the drink can with bright colors, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the red green can with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the metal can with pull-tab top, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Drop the red green beverage can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.", + "Use the left arm for the green red metallic soda can, place the green red metallic soda can in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the red green can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Grab the can with red green label using the left arm, drop the can with red green label into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Use the left arm to hold the red green can, drop the red green can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the metallic drink can with pull-tab, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Pick up the can with red green label, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the smooth cylindrical can with lime pattern, drop it into the brown basket, and raise the brown basket.", + "Take the drink can with bright colors in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the soda can with lime illustration, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Lift the red green beverage can, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Take the green red metallic soda can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to take the beverage can with red green graphics, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the small soda can with lime graphics, put it into the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the green red metallic soda can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the green red metallic soda can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the colorful can with lime and orange design, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Use the left arm to pick the colorful can with lime and orange design, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to grab the red green beverage can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Take the smooth cylindrical can with lime pattern, place it into the basket with handle, then lift the basket with handle.", + "Lift the red green can, place it inside the woven basket, and elevate the woven basket.", + "Grab the green red metallic soda can, place it in the brown basket, and then lift the brown basket.", + "Grab the soda can with lime illustration, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Pick the drink can with bright colors with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Take the beverage can with red green graphics and put it in the woven basket, then lift the woven basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket with handle, then lift the basket with handle.", + "Hold the soda can with lime illustration using the left arm, place it in the brown basket, and lift the brown basket.", + "Pick up the beverage can with red green graphics with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Pick up the drink can with bright colors, place it into the basket for holding items, then lift the basket for holding items.", + "Place the drink can with bright colors inside the light brown oval basket, then lift the light brown oval basket.", + "Use the same arm to grab the small soda can with lime graphics, place in the brown basket, and then lift the brown basket.", + "Pick up the beverage can with red green graphics using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the soda can with lime illustration, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the colorful can with lime and orange design with the left arm, set it in the woven basket, and lift with another arm.", + "Place the red green beverage can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Grab the colorful can with lime and orange design, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Lift the metallic drink can with pull-tab, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Lift the small soda can with lime graphics, set it in the basket with handle, and elevate the basket with handle.", + "Place the soda can with lime illustration in the basket for holding items and then use another arm to lift the basket for holding items.", + "Lift the can with red green label, place it in the basket with loop handle, and raise the basket with loop handle.", + "Take the drink can with bright colors, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the green red metallic soda can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick the colorful can with lime and orange design with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the metal can with pull-tab top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the green red metallic soda can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to grab the smooth cylindrical can with lime pattern and place in the basket for holding items, lift the basket for holding items with another arm.", + "Grab and drop the red green beverage can in the basket with loop handle, lift the basket with loop handle.", + "Grab the colorful can with lime and orange design, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the colorful can with lime and orange design with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the red green can, put it in the basket for holding items, and lift the basket for holding items.", + "Drop the smooth cylindrical can with lime pattern into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Use the left arm for the red green beverage can, place the red green beverage can in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to grab the colorful can with lime and orange design, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Grab the smooth cylindrical can with lime pattern using the left arm, drop the smooth cylindrical can with lime pattern into the basket for holding items and lift the basket for holding items.", + "Use the left arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the metallic drink can with pull-tab, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Pick up the metallic drink can with pull-tab, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the drink can with bright colors, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Lift the green red metallic soda can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Lift the colorful can with lime and orange design, put it in the brown basket, and carry the brown basket afterward.", + "Take the smooth cylindrical can with lime pattern with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to take the metal can with pull-tab top, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the red green can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the can with red green label, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the smooth cylindrical can with lime pattern using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick the red green beverage can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Use the left arm to pick the drink can with bright colors, place it inside the basket with handle, then lift the basket with handle.", + "Use the left arm to grab the small soda can with lime graphics, put it into the basket with handle, and lift the basket with handle with another arm.", + "Take the soda can with lime illustration, place it into the basket with handle, then lift the basket with handle.", + "Lift the smooth cylindrical can with lime pattern, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Grab the red green can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the can with red green label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Pick the green red metallic soda can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the colorful can with lime and orange design and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket with loop handle, then lift the basket with loop handle." + ], + "unseen": [ + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..d9b328bff20e95749fffabc59ab8c788e4f9e921 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the metal can with white decorative designs, place it into the light brown oval basket, then lift the light brown oval basket.", + "Take the brown can with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Pick the metal can with printed white graphics with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Use the right arm to grab the drink can with light brown shade, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Lift the small light brown cylindrical can, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Use the right arm to grab the small light brown cylindrical can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Grab the metal can with printed white graphics with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick the small light brown cylindrical can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Grab the light brown can with smooth texture using the right arm, drop the light brown can with smooth texture into the basket with handle and lift the basket with handle.", + "Drop the smooth brown can with rounded edges into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Lift the hand-sized metallic can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Hold the metal can with white decorative designs using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the brown can with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Lift the smooth light brown can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the right arm to take the light brown can with smooth texture, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the smooth light brown can, set it in the basket with handle, and elevate the basket with handle.", + "Grab the light brown can with smooth texture, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab the small cylindrical drink container, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick up the hand-sized metallic can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the brown can and put it in the basket for holding items, then lift the basket for holding items.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the right arm to grab the small light brown cylindrical can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the metal can with white decorative designs with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Take the brown can, set it into the basket for holding items, and raise the basket for holding items.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the basket with handle, and lift the basket with handle.", + "Use the right arm to grab the small cylindrical drink container and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Grab the brown can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the metal can with white decorative designs, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the light brown can with smooth texture, put it in the light brown oval basket, then raise the light brown oval basket.", + "Grab the rounded metallic can, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Place the rounded metallic can in the basket with handle and then lift the basket with handle.", + "Take the rounded metallic can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the small cylindrical drink container with the right arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the smooth light brown can, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Lift the rounded metallic can, put it in the brown basket, and carry the brown basket afterward.", + "Grab the metal can with printed white graphics, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Use the same arm to grab the light brown can with smooth texture, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the smooth brown can with rounded edges, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the drink can with light brown shade, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick up the metal can with white decorative designs, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the brown can using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the small cylindrical drink container with the right arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Pick up the light brown can with smooth texture, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab and drop the small cylindrical drink container in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Place the light brown can with smooth texture inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the metal can with printed white graphics, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Take the small light brown cylindrical can in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Place the light brown can with smooth texture in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the right arm to pick the drink can with light brown shade, place it inside the basket with handle, then lift the basket with handle.", + "Use the right arm to hold the brown can, drop the brown can into the basket with handle, and lift the basket with handle.", + "Pick up the smooth brown can with rounded edges, place it into the basket with loop handle, then lift the basket with loop handle.", + "Take the hand-sized metallic can with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick the brown can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the right arm to grab the metal can with printed white graphics, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Lift the small light brown cylindrical can, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Use the right arm to grab the small light brown cylindrical can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Grab the light brown can with smooth texture with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick the smooth brown can with rounded edges, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Grab the metal can with white decorative designs using the right arm, drop the metal can with white decorative designs into the basket for carrying things and lift the basket for carrying things.", + "Drop the small cylindrical drink container into the brown basket using the right arm, then lift the brown basket with another arm.", + "Lift the metal can with printed white graphics, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Hold the white patterned brown metal can using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the small light brown cylindrical can with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Lift the rounded metallic can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to take the metal can with printed white graphics, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the smooth brown can with rounded edges, set it in the brown basket, and elevate the brown basket.", + "Grab the smooth light brown can, set it into the woven basket, then raise the woven basket.", + "Grab the metal can with white decorative designs, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Pick up the metal can with white decorative designs, put it into the light brown oval basket, and lift the light brown oval basket.", + "Take the metal can with printed white graphics and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the metal can with white decorative designs using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the right arm to grab the metal can with printed white graphics, place it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the smooth light brown can with the right arm, set it in the woven basket, and lift with another arm.", + "Take the metal can with printed white graphics, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Use the right arm for the rounded metallic can, place the rounded metallic can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm to grab the hand-sized metallic can and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Grab the drink can with light brown shade, place it in the brown basket, and then lift the brown basket.", + "Pick the rounded metallic can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the hand-sized metallic can, put it in the woven basket, then raise the woven basket.", + "Grab the small cylindrical drink container, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Place the small light brown cylindrical can in the basket with loop handle and then lift the basket with loop handle.", + "Take the small light brown cylindrical can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the metal can with white decorative designs with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the smooth light brown can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Lift the drink can with light brown shade, put it in the basket with handle, and carry the basket with handle afterward.", + "Grab the hand-sized metallic can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Use the same arm to grab the small light brown cylindrical can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the rounded metallic can, put it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the rounded metallic can, place it in the basket for holding items, and raise the basket for holding items.", + "Pick up the smooth light brown can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the smooth light brown can using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Pick the smooth light brown can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the small light brown cylindrical can, set it inside the woven basket, then lift the woven basket.", + "Grab and drop the light brown can with smooth texture in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Place the metal can with white decorative designs inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the drink can with light brown shade, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Take the hand-sized metallic can in the right arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Place the smooth light brown can in the basket for holding items and then use another arm to lift the basket for holding items.", + "Use the right arm to pick the light brown can with smooth texture, place it inside the woven basket, then lift the woven basket.", + "Use the right arm to hold the rounded metallic can, drop the rounded metallic can into the basket for carrying things, and lift the basket for carrying things." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..d07501b385d06f50d173fd3cd2df294a708798a3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the same arm to grab the white can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the can with rounded cylindrical shape in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Grab the medium metal can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the basket for holding items, and lift the basket for holding items.", + "Grab the can with gold top lid, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Place the can with sealed gold top in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Pick the smooth white can with accents, set it in the basket with handle, then lift the basket with handle.", + "Grab the beverage can with printed label, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Lift the cylindrical white glossy can, place it in the brown basket, pick up the brown basket afterward.", + "Take the smooth white can with accents, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to pick the white can, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the cylindrical white glossy can with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Lift the small white can with branding, drop it into the basket with handle, then carry the basket with handle.", + "Grab the can with red-orange text with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Place the small white can with branding in the brown basket and then lift the brown basket.", + "Grab and drop the white can with 3D RADY label in the basket for holding items, lift the basket for holding items.", + "Pick up the cylindrical white glossy can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the can with gold top lid, put it in the brown basket, and lift the brown basket.", + "Lift the medium metal can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Drop the cylindrical white glossy can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Grab the small white can with branding, drop it into the basket with handle, and raise the basket with handle.", + "Use the left arm to take the small white can with branding, drop it in the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the smooth white can with accents, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Take the can with red-orange text and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the small white can with branding, place it inside the woven basket, and elevate the woven basket.", + "Pick the red-orange text on white can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick the can with red-orange text, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Use the left arm to grab the small white can with branding, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the small white can with branding, put it into the brown basket, and lift the brown basket.", + "Pick up the can with rounded cylindrical shape with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Pick the red-orange text on white can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the can with gold top lid with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Lift the white can, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Use the left arm to grab the smooth white can with accents and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Grab the white can with 3D RADY label, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Lift the can with rounded cylindrical shape, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Hold the beverage can with printed label using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Grab the can with sealed gold top, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the red-orange text on white can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the left arm to grab the smooth white can with accents, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Grab the small white can with branding, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the cylindrical white glossy can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the cylindrical white glossy can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick up the white can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the smooth white can with accents with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Place the red-orange text on white can inside the basket for holding items, then lift the basket for holding items.", + "Take the can with red-orange text, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the small white can with branding using the left arm, drop the small white can with branding into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Pick up the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the same arm to grab the can with red-orange text, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the smooth white can with accents in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the basket with handle, and lift the basket with handle.", + "Grab the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Place the can with gold top lid in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick the medium metal can, set it in the basket with handle, then lift the basket with handle.", + "Grab the can with gold top lid, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Lift the small white can with branding, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Take the can with sealed gold top, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the brown basket, then lift the brown basket.", + "Lift the can with gold top lid with the left arm, set it in the woven basket, and lift with another arm.", + "Lift the can with red-orange text, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Grab the can with gold top lid with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Place the can with rounded cylindrical shape in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Grab and drop the small white can with branding in the basket made of woven wood, lift the basket made of woven wood.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick up the white can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the white can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Drop the beverage can with printed label into the brown basket using the left arm, then lift the brown basket with another arm.", + "Grab the smooth white can with accents, drop it into the woven basket, and raise the woven basket.", + "Use the left arm to take the can with gold top lid, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the smooth white can with accents, put it into the brown basket, and lift the brown basket with another arm.", + "Take the white can with 3D RADY label and put it in the basket for holding items, then lift the basket for holding items.", + "Lift the medium metal can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the smooth white can with accents with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Pick the can with rounded cylindrical shape, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Use the left arm to grab the can with red-orange text, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the cylindrical white glossy can, put it into the basket with loop handle, and lift the basket with loop handle.", + "Pick up the white can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Pick the beverage can with printed label with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick the beverage can with printed label with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the can with rounded cylindrical shape, put it in the woven basket, and carry the woven basket afterward.", + "Use the left arm to grab the smooth white can with accents and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Grab the smooth white can with accents, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the beverage can with printed label, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Hold the beverage can with printed label using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the medium metal can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the basket with handle, and lift the basket with handle.", + "Pick the red-orange text on white can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the can with sealed gold top, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Grab the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the red-orange text on white can, set it inside the brown basket, then lift the brown basket.", + "Grab the red-orange text on white can, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick up the can with rounded cylindrical shape, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Take the medium metal can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Place the can with red-orange text inside the basket made of woven wood, then lift the basket made of woven wood.", + "Take the beverage can with printed label, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket for carrying things and lift the basket for carrying things.", + "Pick up the white can, place it into the woven basket, then lift the woven basket." + ], + "unseen": [ + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..f1dc8d4ad3feeace6d8e7f89dceb418fe75f34fd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the red green can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the metallic drink can with pull-tab in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Take the metallic drink can with pull-tab, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the smooth cylindrical can with lime pattern with the left arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Pick up the smooth cylindrical can with lime pattern, set it inside the handheld basket, then lift the handheld basket.", + "Grab the metal can with pull-tab top, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the red green beverage can, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the drink can with bright colors, place it inside the basket with black handle, and elevate the basket with black handle.", + "Grab the green red metallic soda can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Grab the red green can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the colorful can with lime and orange design with the left arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the smooth cylindrical can with lime pattern with the left arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the small soda can with lime graphics, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Drop the red green beverage can into the basket with perforated sides using the left arm, then lift the basket with perforated sides with another arm.", + "Pick up the red green can, place it into the yellow basket, then lift the yellow basket.", + "Place the drink can with bright colors inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the soda can with lime illustration, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick the small soda can with lime graphics using the left arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the left arm to pick the metal can with pull-tab top, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the green red metallic soda can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the red green beverage can, put it in the yellow basket, and carry the yellow basket afterward.", + "Pick the drink can with bright colors with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Use the left arm to grab the red green beverage can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Use the left arm to grab the small soda can with lime graphics and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the metal can with pull-tab top, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the smooth cylindrical can with lime pattern using the left arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the small soda can with lime graphics and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the metallic drink can with pull-tab using the left arm, drop the metallic drink can with pull-tab into the basket with perforated sides and lift the basket with perforated sides.", + "Pick the red green beverage can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Lift the colorful can with lime and orange design, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the left arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the small soda can with lime graphics, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Place the metal can with pull-tab top in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Take the small soda can with lime graphics with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Use the left arm to grab the metallic drink can with pull-tab, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Place the red green can in the bright yellow basket and then lift the bright yellow basket.", + "Grab the small soda can with lime graphics, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick the metallic drink can with pull-tab with the left arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Hold the green red metallic soda can using the left arm, place it in the plastic basket, and lift the plastic basket.", + "Lift the green red metallic soda can with the left arm, set it in the basket with black handle, and lift with another arm.", + "Use the same arm to grab the red green beverage can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Use the left arm to hold the red green beverage can, drop the red green beverage can into the plastic basket, and lift the plastic basket.", + "Take the beverage can with red green graphics in the left arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Pick up the metal can with pull-tab top, put it into the yellow basket, and lift the yellow basket.", + "Lift the small soda can with lime graphics, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Lift the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the small soda can with lime graphics, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the red green can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Use the left arm to take the metal can with pull-tab top, drop it in the handheld basket, and lift the handheld basket.", + "Grab and drop the red green beverage can in the yellow basket, lift the yellow basket.", + "Take the soda can with lime illustration, place it into the plastic basket, then lift the plastic basket.", + "Pick up the red green can with the left arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Pick up the metallic drink can with pull-tab, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the red green beverage can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the metal can with pull-tab top, put it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the red green can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the metal can with pull-tab top, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Grab the green red metallic soda can, drop it into the handheld basket, and raise the handheld basket.", + "Pick the colorful can with lime and orange design with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the green red metallic soda can with the left arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the green red metallic soda can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Drop the drink can with bright colors into the plastic basket using the left arm, then lift the plastic basket with another arm.", + "Pick up the beverage can with red green graphics, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Place the smooth cylindrical can with lime pattern inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the metallic drink can with pull-tab, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the metal can with pull-tab top, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Pick the red green beverage can using the left arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the left arm to pick the colorful can with lime and orange design, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Take the drink can with bright colors, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the beverage can with red green graphics, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Pick the metal can with pull-tab top with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the left arm to grab the beverage can with red green graphics, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Use the left arm to grab the green red metallic soda can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the small soda can with lime graphics, set it in the plastic basket, and elevate the plastic basket.", + "Pick up the metal can with pull-tab top using the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the metal can with pull-tab top and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the metallic drink can with pull-tab using the left arm, drop the metallic drink can with pull-tab into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Lift the beverage can with red green graphics, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Use the left arm for the soda can with lime illustration, place the soda can with lime illustration in the handheld basket, and lift the handheld basket.", + "Use the left arm to grab the beverage can with red green graphics, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metallic drink can with pull-tab, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Place the beverage can with red green graphics in the basket with black handle and then use another arm to lift the basket with black handle.", + "Take the smooth cylindrical can with lime pattern with the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the left arm to grab the metallic drink can with pull-tab, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Place the red green beverage can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Grab the green red metallic soda can, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick the red green beverage can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Hold the drink can with bright colors using the left arm, place it in the yellow basket, and lift the yellow basket.", + "Lift the can with red green label with the left arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the same arm to grab the soda can with lime illustration, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the left arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the yellow basket, and lift the yellow basket.", + "Take the small soda can with lime graphics in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick up the red green can, put it into the handheld basket, and lift the handheld basket.", + "Lift the colorful can with lime and orange design, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Lift the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the red green can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick up the small soda can with lime graphics, place it in the basket with arched black grip, and then lift the basket with arched black grip." + ], + "unseen": [ + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..78197476b25bc4f80f2878e205cd2753e66df998 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the red can with white Coca-Cola logo, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the hand-sized red can for drinks, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Lift the Coca-Cola can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the Coca-Cola soda can, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Use the right arm to grab the red can with white lettering, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Lift the Coca-Cola can with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Use the right arm to pick the cylindrical red drink can with logo, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the red cylindrical can with silver top with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab and drop the Coca-Cola can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the red can with white lettering, place it into the woven basket, then lift the woven basket.", + "Take the hand-sized red can for drinks in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Drop the red can with smooth metallic texture into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick the Coca-Cola soda can, set it in the woven basket, then lift the woven basket.", + "Grab the small aluminum red drink can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Lift the Coca-Cola soda can, drop it into the basket for holding items, then carry the basket for holding items.", + "Pick up the red can with white Coca-Cola logo, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the red can with smooth metallic texture in the brown basket and then lift the brown basket.", + "Hold the cylindrical red drink can with logo using the right arm, place it in the brown basket, and lift the brown basket.", + "Pick up the small aluminum red drink can using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the right arm for the smooth red can with silver bottom, place the smooth red can with silver bottom in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the metallic red beverage can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to grab the red cylindrical can with silver top and place in the basket with handle, lift the basket with handle with another arm.", + "Grab the red can with white Coca-Cola logo with the right arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the smooth red can with silver bottom, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Take the cylindrical red drink can with logo and put it in the basket for holding items, then lift the basket for holding items.", + "Lift the rounded red Coca-Cola soda container, place it in the brown basket, pick up the brown basket afterward.", + "Pick up the hand-sized red can for drinks, place it in the brown basket, and then lift the brown basket.", + "Lift the Coca-Cola soda can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Take the smooth red can with silver bottom with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Take the Coca-Cola can, place it into the woven basket, then lift the woven basket.", + "Grab the red can with white lettering, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the small aluminum red drink can with the right arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the cylindrical red drink can with logo, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Use the right arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the light brown oval basket, and lift the light brown oval basket.", + "Grab the Coca-Cola soda can using the right arm, drop the Coca-Cola soda can into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Grab the red cylindrical can with silver top, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Use the right arm to take the red can with smooth metallic texture, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the smooth red can with silver bottom, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Lift the Coca-Cola can, place it inside the basket with handle, and elevate the basket with handle.", + "Pick the rounded red Coca-Cola soda container with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the right arm to grab the red can with smooth metallic texture, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Pick up the smooth red can with silver bottom, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the Coca-Cola can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Pick the red can with smooth metallic texture using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Place the Coca-Cola can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Pick up the metallic red beverage can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Take the rounded red Coca-Cola soda container, set it into the basket for holding items, and raise the basket for holding items.", + "Use the same arm to grab the cylindrical red drink can with logo, place in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the Coca-Cola soda can, set it in the basket with handle, and lift the basket with handle upward.", + "Place the red can with smooth metallic texture inside the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the red can with smooth metallic texture, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the red can with smooth metallic texture, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Lift the hand-sized red can for drinks, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the hand-sized red can for drinks, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the right arm to grab the red cylindrical can with silver top, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Lift the red can with white Coca-Cola logo with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Use the right arm to pick the rounded red Coca-Cola soda container, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick the small aluminum red drink can with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Grab and drop the red cylindrical can with silver top in the woven basket, lift the woven basket.", + "Pick up the red cylindrical can with silver top, place it into the brown basket, then lift the brown basket.", + "Take the hand-sized red can for drinks in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Drop the cylindrical red drink can with logo into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Pick the hand-sized red can for drinks, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the Coca-Cola soda can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Lift the red can with white Coca-Cola logo, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick up the smooth red can with silver bottom, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Place the smooth red can with silver bottom in the basket with loop handle and then lift the basket with loop handle.", + "Hold the cylindrical red drink can with logo using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the red can with white lettering using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm for the small aluminum red drink can, place the small aluminum red drink can in the brown basket, and lift the brown basket.", + "Pick up the red cylindrical can with silver top, put it in the brown basket, and lift the brown basket.", + "Use the right arm to grab the Coca-Cola soda can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Grab the smooth red can with silver bottom with the right arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Grab the red cylindrical can with silver top, set it into the basket for holding items, then raise the basket for holding items.", + "Take the red can with white lettering and put it in the woven basket, then lift the woven basket.", + "Lift the small aluminum red drink can, place it in the brown basket, pick up the brown basket afterward.", + "Pick up the Coca-Cola soda can, place it in the woven basket, and then lift the woven basket.", + "Lift the small aluminum red drink can, place it in the light brown oval basket, and raise the light brown oval basket.", + "Take the Coca-Cola soda can with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Take the hand-sized red can for drinks, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the metallic red beverage can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick the smooth red can with silver bottom with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the small aluminum red drink can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Use the right arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the basket for carrying things, and lift the basket for carrying things.", + "Grab the metallic red beverage can using the right arm, drop the metallic red beverage can into the brown basket and lift the brown basket.", + "Grab the rounded red Coca-Cola soda container, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Use the right arm to take the red can with white Coca-Cola logo, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the red can with smooth metallic texture, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Lift the red can with smooth metallic texture, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the rounded red Coca-Cola soda container with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the right arm to grab the metallic red beverage can, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick up the red can with white Coca-Cola logo, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the red cylindrical can with silver top, put it in the basket with handle, and carry the basket with handle afterward.", + "Pick the red can with white lettering using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Place the Coca-Cola soda can in the woven basket and then use another arm to lift the woven basket.", + "Pick up the Coca-Cola can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Take the red can with smooth metallic texture, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the same arm to grab the hand-sized red can for drinks, place in the woven basket, and then lift the woven basket.", + "Pick the metallic red beverage can, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Place the red can with white lettering inside the wooden basket with curved handle, then lift the wooden basket with curved handle." + ], + "unseen": [ + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..0df595ee1e9dabd90f3a2bf6e77029858debd6b1 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the can with rounded cylindrical shape with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the white can with 3D RADY label, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Place the medium metal can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the can with sealed gold top with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Pick the white can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the beverage can with printed label, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the right arm to pick the red-orange text on white can, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the white can with 3D RADY label, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Use the same arm to grab the white can with 3D RADY label, place in the plastic basket, and then lift the plastic basket.", + "Grab the smooth white can with accents, place it in the plastic basket, and lift the plastic basket upwards.", + "Lift the can with gold top lid, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the cylindrical white glossy can using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the small white can with branding in the handheld basket and then use another arm to lift the handheld basket.", + "Pick the medium metal can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the can with sealed gold top, put it in the handheld basket, and lift the handheld basket.", + "Grab the can with gold top lid, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to grab the beverage can with printed label, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Use the right arm to grab the small white can with branding, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the cylindrical white glossy can, place it in the handheld basket, and raise the handheld basket.", + "Take the cylindrical white glossy can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Hold the cylindrical white glossy can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Pick up the red-orange text on white can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Drop the medium metal can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Pick up the beverage can with printed label using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the can with gold top lid, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab and drop the can with red-orange text in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick up the white can with 3D RADY label with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick the small white can with branding with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the can with gold top lid with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to grab the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Lift the can with rounded cylindrical shape, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm for the can with gold top lid, place the can with gold top lid in the bright yellow basket, and lift the bright yellow basket.", + "Pick the cylindrical white glossy can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the can with rounded cylindrical shape, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Lift the beverage can with printed label, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Take the cylindrical white glossy can, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the white can and place in the handheld basket, lift the handheld basket with another arm.", + "Use the right arm to take the white can with 3D RADY label, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the can with red-orange text using the right arm, drop the can with red-orange text into the rectangular yellow basket and lift the rectangular yellow basket.", + "Lift the can with rounded cylindrical shape, put it in the plastic basket, and carry the plastic basket afterward.", + "Take the medium metal can with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Place the can with sealed gold top in the yellow basket and then lift the yellow basket.", + "Grab the can with sealed gold top, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the white can with 3D RADY label, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Grab the medium metal can, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the small white can with branding, set it inside the plastic basket, then lift the plastic basket.", + "Take the beverage can with printed label and put it in the plastic basket, then lift the plastic basket.", + "Take the red-orange text on white can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the medium metal can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the red-orange text on white can, place it into the plastic basket, then lift the plastic basket.", + "Place the medium metal can inside the yellow basket, then lift the yellow basket.", + "Lift the medium metal can with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the cylindrical white glossy can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the can with gold top lid, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Use the right arm to pick the red-orange text on white can, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the red-orange text on white can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Use the same arm to grab the white can with 3D RADY label, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the smooth white can with accents, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Lift the can with red-orange text, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick the can with rounded cylindrical shape using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the small white can with branding in the handheld basket and then use another arm to lift the handheld basket.", + "Pick the smooth white can with accents with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the medium metal can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the can with rounded cylindrical shape, drop it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm to grab the can with sealed gold top, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the right arm to grab the can with gold top lid, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the white can with 3D RADY label, place it in the yellow basket, and raise the yellow basket.", + "Take the cylindrical white glossy can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Hold the beverage can with printed label using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Pick up the smooth white can with accents, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Drop the can with rounded cylindrical shape into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick up the can with gold top lid using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the medium metal can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab and drop the cylindrical white glossy can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the smooth white can with accents with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick the small white can with branding with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the small white can with branding, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the small white can with branding with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the right arm to grab the can with gold top lid, put it into the plastic basket, and lift the plastic basket with another arm.", + "Lift the can with sealed gold top, set it in the plastic basket, and elevate the plastic basket.", + "Use the right arm for the smooth white can with accents, place the smooth white can with accents in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the medium metal can, set it in the basket with black handle, then lift the basket with black handle.", + "Grab the can with gold top lid, drop it into the handheld basket, then use another arm for the handheld basket.", + "Lift the red-orange text on white can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Take the white can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the cylindrical white glossy can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to take the medium metal can, drop it in the plastic basket, and lift the plastic basket.", + "Grab the can with sealed gold top using the right arm, drop the can with sealed gold top into the basket with perforated sides and lift the basket with perforated sides.", + "Lift the white can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Take the can with sealed gold top with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Place the red-orange text on white can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Grab the can with rounded cylindrical shape, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Lift the white can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the smooth white can with accents, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the white can, set it inside the plastic basket, then lift the plastic basket.", + "Take the can with sealed gold top and put it in the handheld basket, then lift the handheld basket.", + "Take the smooth white can with accents in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Use the right arm to hold the can with sealed gold top, drop the can with sealed gold top into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface." + ], + "unseen": [ + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..01438202cc12e6292c05999439cfb77474242816 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth white can with accents, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick up the can with sealed gold top, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the can with gold top lid, place it into the basket with loop handle, then lift the basket with loop handle.", + "Pick up the white can with 3D RADY label with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket for holding items, and lift the basket for holding items.", + "Lift the small white can with branding, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the left arm to grab the small white can with branding, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Grab the small white can with branding, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the cylindrical white glossy can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Take the small white can with branding, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the red-orange text on white can, set it into the woven basket, then raise the woven basket.", + "Hold the beverage can with printed label using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the medium metal can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Use the same arm to grab the white can, place in the basket with handle, and then lift the basket with handle.", + "Grab the can with red-orange text, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Pick the small white can with branding with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Take the small white can with branding with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the small white can with branding and place in the basket with handle, lift the basket with handle with another arm.", + "Grab the white can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Drop the beverage can with printed label into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Place the red-orange text on white can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Place the white can in the woven basket and then use another arm to lift the woven basket.", + "Pick up the can with rounded cylindrical shape, put it into the light brown oval basket, and lift the light brown oval basket.", + "Grab the can with red-orange text with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the cylindrical white glossy can, place it in the basket with handle, and lift the basket with handle.", + "Use the left arm to pick the red-orange text on white can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the smooth white can with accents, put it in the woven basket, and lift the woven basket.", + "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the woven basket, and lift the woven basket.", + "Take the can with gold top lid in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Grab the smooth white can with accents, place it in the brown basket, and lift the brown basket upwards.", + "Place the beverage can with printed label in the basket for carrying things and then lift the basket for carrying things.", + "Pick the cylindrical white glossy can, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Pick the can with rounded cylindrical shape with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Lift the cylindrical white glossy can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick up the can with red-orange text, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the white can, set it in the basket for holding items, then lift the basket for holding items.", + "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the can with sealed gold top, drop it into the woven basket, then use another arm for the woven basket.", + "Pick the beverage can with printed label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the red-orange text on white can, drop it into the basket with handle, then carry the basket with handle.", + "Lift the can with rounded cylindrical shape with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab and drop the can with rounded cylindrical shape in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Pick up the can with red-orange text using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the small white can with branding and put it in the woven basket, then lift the woven basket.", + "Use the left arm to take the can with gold top lid, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the light brown oval basket and lift the light brown oval basket.", + "Lift the cylindrical white glossy can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Pick the can with rounded cylindrical shape using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the medium metal can, set it into the light brown oval basket, and raise the light brown oval basket.", + "Use the left arm to grab the smooth white can with accents, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Grab the medium metal can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick up the can with sealed gold top, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the can with red-orange text, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the white can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the brown basket, and lift the brown basket.", + "Lift the red-orange text on white can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Use the left arm to grab the red-orange text on white can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Grab the red-orange text on white can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the smooth white can with accents, put it in the light brown oval basket, then raise the light brown oval basket.", + "Take the medium metal can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the can with red-orange text, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Hold the smooth white can with accents using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Lift the white can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Use the same arm to grab the can with sealed gold top, place in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the can with rounded cylindrical shape, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Pick the white can with 3D RADY label with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the cylindrical white glossy can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Use the left arm to grab the can with rounded cylindrical shape and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Grab the can with sealed gold top, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Drop the white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.", + "Place the can with gold top lid inside the basket with loop handle, then lift the basket with loop handle.", + "Place the white can with 3D RADY label in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Pick up the white can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the white can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the left arm to grab the can with sealed gold top, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to pick the smooth white can with accents, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the beverage can with printed label, put it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket with loop handle, and lift the basket with loop handle.", + "Take the red-orange text on white can in the left arm, place it into the brown basket, another arm lifts the brown basket.", + "Grab the can with rounded cylindrical shape, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Place the white can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Pick the white can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick the smooth white can with accents with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Lift the white can with 3D RADY label, set it in the woven basket, and elevate the woven basket.", + "Pick up the beverage can with printed label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the white can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the white can with 3D RADY label, place it in the light brown oval basket, and raise the light brown oval basket.", + "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Pick the white can with 3D RADY label with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the medium metal can, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Lift the white can with 3D RADY label with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Grab and drop the white can with 3D RADY label in the basket with handle, lift the basket with handle.", + "Pick up the can with red-orange text using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the medium metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to take the white can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the brown basket and lift the brown basket.", + "Lift the cylindrical white glossy can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Pick the can with rounded cylindrical shape using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the cylindrical white glossy can, set it into the basket with loop handle, and raise the basket with loop handle.", + "Use the left arm to grab the can with sealed gold top, put it into the brown basket, and lift the brown basket with another arm." + ], + "unseen": [ + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..99a0b7303cabf849a9bb39af8c1d989094195cdf --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metal can with pull-tab top, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Use the left arm to grab the red green beverage can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the small soda can with lime graphics with the left arm, drop it in the woven basket, lift the woven basket with another arm.", + "Drop the red green beverage can into the woven basket using the left arm, then lift the woven basket with another arm.", + "Take the red green can and put it in the basket with handle, then lift the basket with handle.", + "Lift the small soda can with lime graphics, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Pick the red green can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick up the soda can with lime illustration with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the red green can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Pick the colorful can with lime and orange design with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the green red metallic soda can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Grab the beverage can with red green graphics, place it in the woven basket, and lift the woven basket upwards.", + "Grab the metallic drink can with pull-tab, put it in the woven basket, then raise the woven basket.", + "Place the green red metallic soda can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Grab the soda can with lime illustration, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Grab the red green beverage can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Grab the smooth cylindrical can with lime pattern with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the same arm to grab the drink can with bright colors, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Use the left arm to hold the drink can with bright colors, drop the drink can with bright colors into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Hold the drink can with bright colors using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Place the colorful can with lime and orange design inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the smooth cylindrical can with lime pattern using the left arm, drop the smooth cylindrical can with lime pattern into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Place the smooth cylindrical can with lime pattern in the woven basket and then lift the woven basket.", + "Lift the drink can with bright colors, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Pick up the metal can with pull-tab top, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the smooth cylindrical can with lime pattern, place it inside the basket for holding items, and elevate the basket for holding items.", + "Pick up the red green can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the beverage can with red green graphics, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the metal can with pull-tab top, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Lift the beverage can with red green graphics, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Pick the red green can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Take the smooth cylindrical can with lime pattern in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Take the red green can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Lift the red green beverage can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Use the left arm to grab the red green beverage can, place it in the brown basket, and lift the brown basket.", + "Use the left arm to pick the metal can with pull-tab top, place it inside the woven basket, then lift the woven basket.", + "Grab and drop the metallic drink can with pull-tab in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Grab the can with red green label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the left arm to grab the red green can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the metallic drink can with pull-tab, set it in the basket for holding items, then lift the basket for holding items.", + "Lift the green red metallic soda can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Take the beverage can with red green graphics, place it into the basket for holding items, then lift the basket for holding items.", + "Use the left arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the metal can with pull-tab top, put it into the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the metallic drink can with pull-tab, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick up the metal can with pull-tab top, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the beverage can with red green graphics, place it in the brown basket, and raise the brown basket using the other arm.", + "Use the left arm to take the colorful can with lime and orange design, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the colorful can with lime and orange design, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the red green beverage can with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Take the soda can with lime illustration, set it into the brown basket, and raise the brown basket.", + "Use the left arm to grab the green red metallic soda can and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Pick the colorful can with lime and orange design with the left arm, drop it in the woven basket, lift the woven basket with another arm.", + "Drop the soda can with lime illustration into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Take the red green beverage can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Lift the metal can with pull-tab top, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Pick the drink can with bright colors, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Pick up the smooth cylindrical can with lime pattern with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Grab the colorful can with lime and orange design, drop it into the woven basket, then use another arm for the woven basket.", + "Pick the can with red green label with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the metal can with pull-tab top with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Grab the red green beverage can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Grab the soda can with lime illustration, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Place the can with red green label in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Grab the red green beverage can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Grab the small soda can with lime graphics, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the metallic drink can with pull-tab with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the same arm to grab the red green beverage can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Use the left arm to hold the green red metallic soda can, drop the green red metallic soda can into the basket for carrying things, and lift the basket for carrying things.", + "Hold the can with red green label using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the red green can inside the basket for holding items, then lift the basket for holding items.", + "Grab the colorful can with lime and orange design using the left arm, drop the colorful can with lime and orange design into the basket with loop handle and lift the basket with loop handle.", + "Place the green red metallic soda can in the basket with loop handle and then lift the basket with loop handle.", + "Lift the green red metallic soda can, put it in the woven basket, and carry the woven basket afterward.", + "Pick up the red green can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Lift the colorful can with lime and orange design, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Pick up the green red metallic soda can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick up the can with red green label, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the red green beverage can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the small soda can with lime graphics, drop it into the brown basket, then carry the brown basket.", + "Pick the red green beverage can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the red green beverage can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Take the small soda can with lime graphics with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the metallic drink can with pull-tab, place it in the woven basket, and raise the woven basket.", + "Use the left arm to grab the red green beverage can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to pick the red green can, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab and drop the metal can with pull-tab top in the light brown oval basket, lift the light brown oval basket.", + "Grab the beverage can with red green graphics, drop it into the basket with handle, and raise the basket with handle.", + "Use the left arm to grab the small soda can with lime graphics, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the red green can, set it in the basket for holding items, then lift the basket for holding items.", + "Lift the red green beverage can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Take the red green beverage can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm for the red green can, place the red green can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the can with red green label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to grab the metallic drink can with pull-tab, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Pick up the drink can with bright colors, place it into the brown basket, then lift the brown basket.", + "Grab the red green beverage can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Use the left arm to take the red green can, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the metal can with pull-tab top, put it in the brown basket, and lift the brown basket.", + "Pick the beverage can with red green graphics with the left arm, set it in the brown basket, and lift the brown basket using another arm." + ], + "unseen": [ + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6551c3ab6a8d70a807d444d51949deb1541efd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the colorful can with lime and orange design, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the smooth cylindrical can with lime pattern, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick the beverage can with red green graphics with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Use the right arm to hold the red green can, drop the red green can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Drop the colorful can with lime and orange design into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Pick the can with red green label with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Place the drink can with bright colors in the brown basket and then lift the brown basket.", + "Use the right arm to grab the drink can with bright colors, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Use the right arm to grab the drink can with bright colors, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Use the right arm to grab the red green can and place in the woven basket, lift the woven basket with another arm.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the basket for carrying things and lift the basket for carrying things.", + "Use the same arm to grab the soda can with lime illustration, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the right arm to pick the red green beverage can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the right arm for the small soda can with lime graphics, place the small soda can with lime graphics in the basket for holding items, and lift the basket for holding items.", + "Grab the red green beverage can, put it in the basket with handle, then raise the basket with handle.", + "Grab the metal can with pull-tab top, drop it into the woven basket, and raise the woven basket.", + "Take the drink can with bright colors with the right arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Take the smooth cylindrical can with lime pattern, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the small soda can with lime graphics using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to take the metallic drink can with pull-tab, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the red green beverage can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the green red metallic soda can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the metal can with pull-tab top inside the woven basket, then lift the woven basket.", + "Pick up the drink can with bright colors with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Pick up the metallic drink can with pull-tab, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the smooth cylindrical can with lime pattern, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Take the beverage can with red green graphics and put it in the light brown oval basket, then lift the light brown oval basket.", + "Lift the red green can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Hold the can with red green label using the right arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the drink can with bright colors, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick up the red green beverage can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the drink can with bright colors, set it in the basket for holding items, and elevate the basket for holding items.", + "Take the metal can with pull-tab top in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab the red green beverage can with the right arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Grab the beverage can with red green graphics, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Pick up the small soda can with lime graphics, place it into the light brown oval basket, then lift the light brown oval basket.", + "Pick the metallic drink can with pull-tab with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Use the right arm to grab the metal can with pull-tab top, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the beverage can with red green graphics, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Pick up the small soda can with lime graphics using the right arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Lift the small soda can with lime graphics with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Grab and drop the can with red green label in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Lift the green red metallic soda can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Place the red green can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Lift the drink can with bright colors, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Grab the green red metallic soda can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the can with red green label, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the soda can with lime illustration, place it in the brown basket, and raise the brown basket using the other arm.", + "Lift the beverage can with red green graphics, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Take the green red metallic soda can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the red green beverage can, set it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the small soda can with lime graphics, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick the metallic drink can with pull-tab with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Use the right arm to hold the drink can with bright colors, drop the drink can with bright colors into the light brown oval basket, and lift the light brown oval basket.", + "Drop the green red metallic soda can into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Place the soda can with lime illustration in the brown basket and then lift the brown basket.", + "Use the right arm to grab the colorful can with lime and orange design, put it into the basket with handle, and lift the basket with handle with another arm.", + "Use the right arm to grab the can with red green label, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Use the right arm to grab the soda can with lime illustration and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the smooth cylindrical can with lime pattern using the right arm, drop the smooth cylindrical can with lime pattern into the brown basket and lift the brown basket.", + "Use the same arm to grab the soda can with lime illustration, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the right arm to pick the red green beverage can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the red green can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab the metallic drink can with pull-tab, drop it into the basket with handle, and raise the basket with handle.", + "Take the beverage can with red green graphics with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Take the red green can, set it into the light brown oval basket, and raise the light brown oval basket.", + "Pick the can with red green label using the right arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the right arm to take the green red metallic soda can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the colorful can with lime and orange design, place it in the brown basket, and raise the brown basket.", + "Pick up the red green can, put it in the basket with handle, and lift the basket with handle.", + "Place the metallic drink can with pull-tab inside the basket for holding items, then lift the basket for holding items.", + "Pick up the colorful can with lime and orange design with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Pick up the smooth cylindrical can with lime pattern, put it into the woven basket, and lift the woven basket.", + "Grab the metal can with pull-tab top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Take the colorful can with lime and orange design and put it in the woven basket, then lift the woven basket.", + "Lift the green red metallic soda can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Hold the soda can with lime illustration using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the soda can with lime illustration, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Pick up the smooth cylindrical can with lime pattern, place it in the basket for holding items, and then lift the basket for holding items.", + "Lift the red green beverage can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Take the beverage can with red green graphics in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the can with red green label with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the metallic drink can with pull-tab, place it in the basket with handle, and lift the basket with handle upwards.", + "Pick up the metallic drink can with pull-tab, place it into the basket for holding items, then lift the basket for holding items.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the right arm to grab the red green beverage can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the can with red green label, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Pick up the soda can with lime illustration using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the colorful can with lime and orange design with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab and drop the metal can with pull-tab top in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Lift the green red metallic soda can, place it inside the brown basket, and elevate the brown basket.", + "Place the metal can with pull-tab top in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Lift the soda can with lime illustration, drop it into the basket with handle, then carry the basket with handle.", + "Grab the small soda can with lime graphics, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick up the metal can with pull-tab top, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the beverage can with red green graphics, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Lift the red green can, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Take the small soda can with lime graphics, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle." + ], + "unseen": [ + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..d21b671f1713ba9048b0b69b033584e0a062a2f6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the red can with smooth metallic texture, place it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the smooth red can with silver bottom using the left arm, drop the smooth red can with silver bottom into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Lift the metallic red beverage can, place it inside the basket for holding items, and elevate the basket for holding items.", + "Use the left arm to pick the Coca-Cola soda can, place it inside the brown basket, then lift the brown basket.", + "Pick the red cylindrical can with silver top with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the Coca-Cola soda can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Take the metallic red beverage can in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Take the rounded red Coca-Cola soda container with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the red can with white lettering, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Grab the red can with white Coca-Cola logo, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Grab the red cylindrical can with silver top, drop it into the brown basket, then use another arm for the brown basket.", + "Pick up the small aluminum red drink can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to take the cylindrical red drink can with logo, drop it in the woven basket, and lift the woven basket.", + "Place the cylindrical red drink can with logo in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the hand-sized red can for drinks, put it into the basket with handle, and lift the basket with handle with another arm.", + "Lift the cylindrical red drink can with logo, place it in the woven basket, pick up the woven basket afterward.", + "Grab the cylindrical red drink can with logo, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the cylindrical red drink can with logo, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the same arm to grab the hand-sized red can for drinks, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the smooth red can with silver bottom, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Place the red can with smooth metallic texture inside the brown basket, then lift the brown basket.", + "Pick up the hand-sized red can for drinks with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Pick up the red cylindrical can with silver top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick the rounded red Coca-Cola soda container with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the small aluminum red drink can, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab the red can with white Coca-Cola logo with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the smooth red can with silver bottom and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the rounded red Coca-Cola soda container with the left arm, set it in the brown basket, and lift with another arm.", + "Lift the smooth red can with silver bottom, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Pick the metallic red beverage can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the small aluminum red drink can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Drop the cylindrical red drink can with logo into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Use the left arm to grab the Coca-Cola soda can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Take the rounded red Coca-Cola soda container, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the small aluminum red drink can, set it in the brown basket, and lift the brown basket upward.", + "Take the small aluminum red drink can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Hold the hand-sized red can for drinks using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the hand-sized red can for drinks, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Use the left arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the brown basket, and lift the brown basket.", + "Grab the smooth red can with silver bottom, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the left arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to grab the hand-sized red can for drinks and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick the smooth red can with silver bottom using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Place the rounded red Coca-Cola soda container in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Pick the small aluminum red drink can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the metallic red beverage can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick up the red can with white lettering, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab and drop the rounded red Coca-Cola soda container in the basket for holding items, lift the basket for holding items.", + "Grab the red can with white Coca-Cola logo, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the red can with white lettering, put it into the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the red cylindrical can with silver top, place it in the brown basket, and lift the brown basket.", + "Grab the hand-sized red can for drinks using the left arm, drop the hand-sized red can for drinks into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Lift the hand-sized red can for drinks, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Use the left arm to pick the red can with smooth metallic texture, place it inside the brown basket, then lift the brown basket.", + "Pick the metallic red beverage can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the Coca-Cola can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Take the red cylindrical can with silver top in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Take the Coca-Cola soda can with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Grab the red can with smooth metallic texture, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Grab the rounded red Coca-Cola soda container, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab the rounded red Coca-Cola soda container, drop it into the brown basket, then use another arm for the brown basket.", + "Pick up the cylindrical red drink can with logo, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to take the red can with white Coca-Cola logo, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the red can with white lettering in the basket made of woven wood and then lift the basket made of woven wood.", + "Use the left arm to grab the Coca-Cola can, put it into the brown basket, and lift the brown basket with another arm.", + "Lift the red can with smooth metallic texture, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Grab the cylindrical red drink can with logo, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the red can with white Coca-Cola logo, set it inside the brown basket, then lift the brown basket.", + "Use the same arm to grab the Coca-Cola soda can, place in the basket with handle, and then lift the basket with handle.", + "Grab the hand-sized red can for drinks, set it into the brown basket, then raise the brown basket.", + "Place the hand-sized red can for drinks inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the red can with smooth metallic texture with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Pick up the Coca-Cola can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the cylindrical red drink can with logo with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the smooth red can with silver bottom, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Grab the red can with smooth metallic texture with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Take the Coca-Cola soda can and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the red can with white lettering with the left arm, set it in the woven basket, and lift with another arm.", + "Lift the metallic red beverage can, drop it into the woven basket, then carry the woven basket.", + "Pick the red can with white lettering with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick up the red can with white Coca-Cola logo, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Drop the red can with smooth metallic texture into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Use the left arm to grab the cylindrical red drink can with logo, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Take the red can with smooth metallic texture, place it into the basket with handle, then lift the basket with handle.", + "Pick the Coca-Cola soda can, set it in the woven basket, and lift the woven basket upward.", + "Take the red can with white lettering, set it into the basket for carrying things, and raise the basket for carrying things.", + "Hold the metallic red beverage can using the left arm, place it in the brown basket, and lift the brown basket.", + "Lift the rounded red Coca-Cola soda container, put it in the brown basket, and carry the brown basket afterward.", + "Use the left arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the red can with white Coca-Cola logo, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Use the left arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the Coca-Cola can and place in the basket with handle, lift the basket with handle with another arm.", + "Pick the red can with smooth metallic texture using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Place the smooth red can with silver bottom in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick the red can with smooth metallic texture, set it in the woven basket, then lift the woven basket.", + "Lift the hand-sized red can for drinks, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick up the cylindrical red drink can with logo, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab and drop the cylindrical red drink can with logo in the brown basket, lift the brown basket.", + "Grab the cylindrical red drink can with logo, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the smooth red can with silver bottom, put it into the brown basket, and lift the brown basket." + ], + "unseen": [ + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..eedef496ba277d6ef89d5aa9595b115e68cab43f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small cylindrical drink container with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Hold the small cylindrical drink container using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the white patterned brown metal can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the metal can with white decorative designs, set it into the plastic basket, and raise the plastic basket.", + "Pick up the metal can with printed white graphics, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the small cylindrical drink container, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Take the brown can, place it into the basket with black handle, then lift the basket with black handle.", + "Grab the small cylindrical drink container, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the light brown can with smooth texture with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the smooth brown can with rounded edges and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the basket with black handle, and lift the basket with black handle.", + "Grab the hand-sized metallic can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick up the white patterned brown metal can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the drink can with light brown shade, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the right arm to grab the small cylindrical drink container, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the smooth brown can with rounded edges, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the small light brown cylindrical can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Place the small cylindrical drink container in the handheld basket and then lift the handheld basket.", + "Place the metal can with printed white graphics in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the same arm to grab the hand-sized metallic can, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the smooth light brown can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the rounded metallic can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Place the white patterned brown metal can inside the basket with black handle, then lift the basket with black handle.", + "Pick up the drink can with light brown shade, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the hand-sized metallic can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab and drop the small cylindrical drink container in the rectangular yellow basket, lift the rectangular yellow basket.", + "Use the right arm to take the small cylindrical drink container, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the rounded metallic can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the brown can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the right arm to hold the smooth light brown can, drop the smooth light brown can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the white patterned brown metal can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm to grab the smooth light brown can, place it in the yellow basket, and lift the yellow basket.", + "Lift the metal can with printed white graphics, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the small light brown cylindrical can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Drop the smooth brown can with rounded edges into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Lift the metal can with white decorative designs, set it in the plastic basket, and elevate the plastic basket.", + "Lift the small light brown cylindrical can, drop it into the handheld basket, then carry the handheld basket.", + "Pick the brown can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the metal can with white decorative designs using the right arm, drop the metal can with white decorative designs into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the metal can with printed white graphics and place in the handheld basket, lift the handheld basket with another arm.", + "Take the small light brown cylindrical can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the right arm to pick the white patterned brown metal can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the metal can with printed white graphics with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Lift the drink can with light brown shade, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the small cylindrical drink container, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Take the white patterned brown metal can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick up the drink can with light brown shade with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab the white patterned brown metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Use the right arm to grab the metal can with printed white graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick the brown can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Hold the hand-sized metallic can using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the light brown can with smooth texture, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the smooth brown can with rounded edges, set it into the yellow basket, and raise the yellow basket.", + "Pick up the smooth light brown can, place it into the plastic basket, then lift the plastic basket.", + "Grab the small light brown cylindrical can, put it in the yellow basket, then raise the yellow basket.", + "Take the hand-sized metallic can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the light brown can with smooth texture, set it into the handheld basket, then raise the handheld basket.", + "Lift the rounded metallic can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Pick the white patterned brown metal can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the brown can and put it in the basket with black handle, then lift the basket with black handle.", + "Use the right arm for the smooth brown can with rounded edges, place the smooth brown can with rounded edges in the plastic basket, and lift the plastic basket.", + "Grab the white patterned brown metal can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the hand-sized metallic can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the small light brown cylindrical can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Use the right arm to grab the rounded metallic can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the metal can with printed white graphics, put it in the handheld basket, and lift the handheld basket.", + "Lift the drink can with light brown shade, place it inside the plastic basket, and elevate the plastic basket.", + "Place the brown can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Place the hand-sized metallic can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Use the same arm to grab the hand-sized metallic can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the rounded metallic can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick up the drink can with light brown shade, put it into the plastic basket, and lift the plastic basket.", + "Place the drink can with light brown shade inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the small light brown cylindrical can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the rounded metallic can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab and drop the light brown can with smooth texture in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the right arm to take the metal can with white decorative designs, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the drink can with light brown shade with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Grab the white patterned brown metal can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the right arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the handheld basket, and lift the handheld basket.", + "Pick up the small cylindrical drink container using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the smooth light brown can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the small cylindrical drink container, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the brown can with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Drop the small light brown cylindrical can into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Lift the brown can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the metal can with printed white graphics, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Pick the small cylindrical drink container, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the metal can with printed white graphics using the right arm, drop the metal can with printed white graphics into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the small cylindrical drink container and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the drink can with light brown shade with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the right arm to pick the light brown can with smooth texture, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the metal can with printed white graphics with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Lift the small cylindrical drink container, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Lift the hand-sized metallic can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Take the light brown can with smooth texture in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Pick up the smooth brown can with rounded edges with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Grab the small cylindrical drink container, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Use the right arm to grab the small light brown cylindrical can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm." + ], + "unseen": [ + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6ec574207270621829b336ad3882c17cbba5a6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the metallic drink can with pull-tab, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the same arm to grab the beverage can with red green graphics, place in the handheld basket, and then lift the handheld basket.", + "Drop the small soda can with lime graphics into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Lift the red green can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Hold the drink can with bright colors using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metallic drink can with pull-tab with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the small soda can with lime graphics, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the drink can with bright colors using the right arm, drop the drink can with bright colors into the handheld basket and lift the handheld basket.", + "Pick the drink can with bright colors, set it in the yellow basket, then lift the yellow basket.", + "Lift the metal can with pull-tab top, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Place the red green beverage can in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the red green beverage can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Grab the red green can with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the drink can with bright colors using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the green red metallic soda can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the soda can with lime illustration with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Take the red green beverage can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab the red green beverage can, set it into the basket with black handle, then raise the basket with black handle.", + "Grab the red green can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Take the red green beverage can, place it into the handheld basket, then lift the handheld basket.", + "Lift the smooth cylindrical can with lime pattern, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the drink can with bright colors, put it in the handheld basket, and lift the handheld basket.", + "Grab the can with red green label, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Lift the colorful can with lime and orange design, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Place the small soda can with lime graphics in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Grab the colorful can with lime and orange design, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the smooth cylindrical can with lime pattern, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Grab the metallic drink can with pull-tab, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick up the green red metallic soda can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the drink can with bright colors inside the handheld basket, then lift the handheld basket.", + "Pick the beverage can with red green graphics, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick up the colorful can with lime and orange design, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the red green can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the right arm to hold the red green can, drop the red green can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the drink can with bright colors, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Take the metal can with pull-tab top, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the metal can with pull-tab top and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to pick the small soda can with lime graphics, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the green red metallic soda can, place it in the handheld basket, and raise the handheld basket.", + "Pick up the small soda can with lime graphics, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the small soda can with lime graphics, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the small soda can with lime graphics, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the beverage can with red green graphics with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm for the red green beverage can, place the red green beverage can in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the green red metallic soda can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Use the right arm to grab the beverage can with red green graphics and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab and drop the red green beverage can in the plastic basket, lift the plastic basket.", + "Use the right arm to grab the green red metallic soda can, place it in the handheld basket, and lift the handheld basket.", + "Use the right arm to take the can with red green label, drop it in the handheld basket, and lift the handheld basket.", + "Use the same arm to grab the colorful can with lime and orange design, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Drop the metallic drink can with pull-tab into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Lift the small soda can with lime graphics, place it in the yellow basket, pick up the yellow basket afterward.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Take the soda can with lime illustration with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the drink can with bright colors with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the can with red green label, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick the red green beverage can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the beverage can with red green graphics, set it in the handheld basket, and elevate the handheld basket.", + "Place the drink can with bright colors in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the right arm to grab the soda can with lime illustration, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Grab the can with red green label with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the red green can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the green red metallic soda can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the red green beverage can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the red green beverage can with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Take the metallic drink can with pull-tab in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Grab the smooth cylindrical can with lime pattern, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red green beverage can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Take the green red metallic soda can, place it into the yellow basket, then lift the yellow basket.", + "Lift the soda can with lime illustration, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the can with red green label, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metallic drink can with pull-tab, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Lift the can with red green label, place it inside the plastic basket, and elevate the plastic basket.", + "Place the green red metallic soda can in the basket with perforated sides and then lift the basket with perforated sides.", + "Grab the small soda can with lime graphics, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the green red metallic soda can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the metal can with pull-tab top, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick up the metal can with pull-tab top, place it in the plastic basket, and then lift the plastic basket.", + "Place the colorful can with lime and orange design inside the yellow basket, then lift the yellow basket.", + "Pick the metallic drink can with pull-tab, set it in the handheld basket, and lift the handheld basket upward.", + "Pick up the smooth cylindrical can with lime pattern, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the metal can with pull-tab top, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Use the right arm to hold the can with red green label, drop the can with red green label into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the colorful can with lime and orange design, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the metallic drink can with pull-tab and put it in the yellow basket, then lift the yellow basket.", + "Use the right arm to pick the beverage can with red green graphics, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the small soda can with lime graphics, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick up the colorful can with lime and orange design, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the beverage can with red green graphics, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the soda can with lime illustration, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the can with red green label with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the basket with black handle, and lift the basket with black handle.", + "Lift the colorful can with lime and orange design with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the right arm to grab the drink can with bright colors and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Grab and drop the red green can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..99b8ab2e09c8ea2c93add8f44ea105601060c111 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the small cylindrical drink container, place it inside the brown basket, then lift the brown basket.", + "Place the metal can with white decorative designs inside the light brown oval basket, then lift the light brown oval basket.", + "Take the metal can with printed white graphics, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the white patterned brown metal can, place it in the brown basket, and raise the brown basket using the other arm.", + "Lift the brown can, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Place the drink can with light brown shade in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Place the smooth light brown can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the small cylindrical drink container, place it in the brown basket, pick up the brown basket afterward.", + "Use the same arm to grab the hand-sized metallic can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the small light brown cylindrical can, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Use the left arm to grab the light brown can with smooth texture, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the white patterned brown metal can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the light brown can with smooth texture, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the metal can with white decorative designs, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab and drop the brown can in the basket with handle, lift the basket with handle.", + "Pick up the smooth light brown can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Use the left arm to grab the small light brown cylindrical can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Grab the rounded metallic can, set it into the basket with handle, then raise the basket with handle.", + "Grab the metal can with white decorative designs with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the left arm to grab the small light brown cylindrical can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick the smooth light brown can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the smooth light brown can, set it in the woven basket, and lift the woven basket upward.", + "Pick up the rounded metallic can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick the rounded metallic can with the left arm, set it in the woven basket, and lift the woven basket using another arm.", + "Grab the drink can with light brown shade, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the drink can with light brown shade, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the smooth brown can with rounded edges, drop it into the woven basket, and raise the woven basket with the other arm.", + "Lift the small light brown cylindrical can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Lift the smooth brown can with rounded edges, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Drop the rounded metallic can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.", + "Use the left arm to grab the smooth light brown can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Pick up the small cylindrical drink container, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick the small cylindrical drink container with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the white patterned brown metal can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Take the light brown can with smooth texture and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the white patterned brown metal can using the left arm, drop the white patterned brown metal can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick up the rounded metallic can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the woven basket, and lift the woven basket.", + "Lift the small light brown cylindrical can with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Take the light brown can with smooth texture in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Take the white patterned brown metal can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Lift the drink can with light brown shade, place it in the basket with loop handle, and raise the basket with loop handle.", + "Pick up the white patterned brown metal can, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the white patterned brown metal can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the metal can with printed white graphics, drop it into the brown basket, then use another arm for the brown basket.", + "Hold the metal can with white decorative designs using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the left arm to take the brown can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the metal can with white decorative designs with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the metal can with white decorative designs, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Use the left arm for the rounded metallic can, place the rounded metallic can in the brown basket, and lift the brown basket.", + "Use the left arm to pick the hand-sized metallic can, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Place the metal can with printed white graphics inside the woven basket, then lift the woven basket.", + "Take the brown can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the small light brown cylindrical can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Lift the metal can with printed white graphics, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Place the smooth brown can with rounded edges in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Place the drink can with light brown shade in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Lift the brown can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Use the same arm to grab the small light brown cylindrical can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the smooth brown can with rounded edges, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Use the left arm to grab the metal can with printed white graphics, place it in the woven basket, and lift the woven basket.", + "Pick the smooth light brown can using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Pick the small light brown cylindrical can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the small cylindrical drink container, drop it into the light brown oval basket, and raise the light brown oval basket.", + "Grab and drop the small light brown cylindrical can in the basket with handle, lift the basket with handle.", + "Pick up the small light brown cylindrical can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Use the left arm to grab the rounded metallic can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the white patterned brown metal can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Grab the metal can with white decorative designs with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the small light brown cylindrical can and place in the basket for holding items, lift the basket for holding items with another arm.", + "Pick the brown can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the metal can with printed white graphics, set it in the woven basket, and lift the woven basket upward.", + "Pick up the brown can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick the brown can with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the hand-sized metallic can, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the small cylindrical drink container, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the smooth light brown can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Lift the metal can with white decorative designs, set it in the brown basket, and elevate the brown basket.", + "Lift the light brown can with smooth texture, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Drop the drink can with light brown shade into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.", + "Use the left arm to grab the brown can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick up the hand-sized metallic can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the rounded metallic can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the metal can with printed white graphics, place it in the basket with handle, and lift the basket with handle upwards.", + "Take the drink can with light brown shade and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the light brown can with smooth texture using the left arm, drop the light brown can with smooth texture into the basket for holding items and lift the basket for holding items.", + "Pick up the smooth light brown can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to hold the small cylindrical drink container, drop the small cylindrical drink container into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the hand-sized metallic can with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Take the white patterned brown metal can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Take the smooth brown can with rounded edges, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Lift the hand-sized metallic can, place it in the brown basket, and raise the brown basket.", + "Pick up the smooth brown can with rounded edges, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the smooth brown can with rounded edges, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Grab the small light brown cylindrical can, drop it into the woven basket, then use another arm for the woven basket.", + "Hold the light brown can with smooth texture using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to take the metal can with white decorative designs, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the small light brown cylindrical can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Lift the smooth light brown can, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Use the left arm for the drink can with light brown shade, place the drink can with light brown shade in the basket with handle, and lift the basket with handle." + ], + "unseen": [ + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..f4f347c3b18ef08581fbe39ef6cc1759c2407d0b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small light brown cylindrical can using the left arm, drop the small light brown cylindrical can into the basket with perforated sides and lift the basket with perforated sides.", + "Use the left arm to grab the white patterned brown metal can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the light brown can with smooth texture, place it into the yellow basket, then lift the yellow basket.", + "Pick up the light brown can with smooth texture with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Pick up the hand-sized metallic can, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the brown can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the drink can with light brown shade using the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the hand-sized metallic can with the left arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the small cylindrical drink container with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the rounded metallic can, set it into the plastic basket, and raise the plastic basket.", + "Use the same arm to grab the metal can with white decorative designs, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the drink can with light brown shade, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the small light brown cylindrical can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the left arm for the small cylindrical drink container, place the small cylindrical drink container in the plastic basket, and lift the plastic basket.", + "Pick up the light brown can with smooth texture, put it into the yellow basket, and lift the yellow basket.", + "Pick the light brown can with smooth texture with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the small light brown cylindrical can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the left arm to grab the metal can with printed white graphics, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick up the smooth light brown can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the left arm to hold the light brown can with smooth texture, drop the light brown can with smooth texture into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the hand-sized metallic can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick the small light brown cylindrical can with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the white patterned brown metal can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the drink can with light brown shade, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Lift the metal can with white decorative designs, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick the small cylindrical drink container, set it in the plastic basket, then lift the plastic basket.", + "Hold the brown can using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the metal can with printed white graphics with the left arm, set it in the yellow basket, and lift with another arm.", + "Drop the small light brown cylindrical can into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Lift the white patterned brown metal can, set it in the handheld basket, and elevate the handheld basket.", + "Grab the metal can with white decorative designs, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Take the small light brown cylindrical can and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the light brown can with smooth texture, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the smooth brown can with rounded edges, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the rounded metallic can with the left arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab and drop the rounded metallic can in the basket with arched black grip, lift the basket with arched black grip.", + "Take the drink can with light brown shade in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick the smooth brown can with rounded edges using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the smooth light brown can, set it into the handheld basket, then raise the handheld basket.", + "Pick up the rounded metallic can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to pick the smooth brown can with rounded edges, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the small light brown cylindrical can, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the rounded metallic can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Lift the small light brown cylindrical can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Use the left arm to grab the hand-sized metallic can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the smooth light brown can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick the rounded metallic can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the left arm to grab the metal can with white decorative designs, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Place the light brown can with smooth texture in the yellow basket and then lift the yellow basket.", + "Use the left arm to take the smooth light brown can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the white patterned brown metal can using the left arm, drop the white patterned brown metal can into the plastic basket and lift the plastic basket.", + "Use the left arm to grab the smooth brown can with rounded edges and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the light brown can with smooth texture, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the small cylindrical drink container with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick up the smooth brown can with rounded edges, put it in the yellow basket, and lift the yellow basket.", + "Place the brown can inside the plastic basket, then lift the plastic basket.", + "Pick up the white patterned brown metal can using the left arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick the light brown can with smooth texture with the left arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the smooth light brown can with the left arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the hand-sized metallic can, set it into the basket with black handle, and raise the basket with black handle.", + "Use the same arm to grab the hand-sized metallic can, place in the basket with black handle, and then lift the basket with black handle.", + "Pick up the white patterned brown metal can, set it inside the plastic basket, then lift the plastic basket.", + "Grab the rounded metallic can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Use the left arm for the smooth light brown can, place the smooth light brown can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the white patterned brown metal can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the brown can with the left arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the brown can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Use the left arm to grab the hand-sized metallic can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick up the light brown can with smooth texture, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the left arm to hold the small cylindrical drink container, drop the small cylindrical drink container into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the rounded metallic can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick the rounded metallic can with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the metal can with white decorative designs, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the hand-sized metallic can, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the small cylindrical drink container, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the rounded metallic can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Hold the smooth brown can with rounded edges using the left arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the white patterned brown metal can with the left arm, set it in the rectangular yellow basket, and lift with another arm.", + "Drop the light brown can with smooth texture into the yellow basket using the left arm, then lift the yellow basket with another arm.", + "Lift the smooth light brown can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the rounded metallic can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Take the metal can with printed white graphics and put it in the plastic basket, then lift the plastic basket.", + "Grab the smooth light brown can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the rounded metallic can, place it in the plastic basket, and raise the plastic basket.", + "Take the brown can with the left arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab and drop the metal can with white decorative designs in the basket with black handle, lift the basket with black handle.", + "Take the brown can in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick the white patterned brown metal can using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Grab the white patterned brown metal can, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the smooth brown can with rounded edges, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the left arm to pick the smooth light brown can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the small cylindrical drink container, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Lift the light brown can with smooth texture, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Lift the drink can with light brown shade, put it in the yellow basket, and carry the yellow basket afterward.", + "Use the left arm to grab the metal can with printed white graphics, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the smooth brown can with rounded edges in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick the hand-sized metallic can, set it in the handheld basket, and lift the handheld basket upward.", + "Use the left arm to grab the light brown can with smooth texture, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Place the rounded metallic can in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the left arm to take the smooth light brown can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket." + ], + "unseen": [ + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..586f36f2fafad112eff304984202c00188bb3bdd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small light brown cylindrical can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Take the metal can with white decorative designs, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to hold the drink can with light brown shade, drop the drink can with light brown shade into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm for the metal can with printed white graphics, place the metal can with printed white graphics in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the smooth brown can with rounded edges, place it in the handheld basket, pick up the handheld basket afterward.", + "Lift the white patterned brown metal can with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Grab the drink can with light brown shade, drop it into the basket with black handle, and raise the basket with black handle.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the drink can with light brown shade, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab the hand-sized metallic can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Hold the brown can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Take the smooth light brown can, set it into the yellow basket, and raise the yellow basket.", + "Lift the smooth brown can with rounded edges, place it in the yellow basket, and raise the yellow basket.", + "Pick the hand-sized metallic can with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Take the white patterned brown metal can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Lift the white patterned brown metal can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab and drop the light brown can with smooth texture in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Grab the rounded metallic can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick the white patterned brown metal can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the hand-sized metallic can using the right arm, drop the hand-sized metallic can into the basket with perforated sides and lift the basket with perforated sides.", + "Use the right arm to grab the hand-sized metallic can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the smooth brown can with rounded edges, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Pick the hand-sized metallic can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Pick up the small light brown cylindrical can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick the white patterned brown metal can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the brown can with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Place the brown can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Place the light brown can with smooth texture in the yellow basket and then lift the yellow basket.", + "Lift the drink can with light brown shade, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Drop the hand-sized metallic can into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Pick up the smooth light brown can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the light brown can with smooth texture, set it into the plastic basket, then raise the plastic basket.", + "Lift the drink can with light brown shade, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the brown can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Take the smooth brown can with rounded edges with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Grab the metal can with white decorative designs, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the white patterned brown metal can, place it into the yellow basket, then lift the yellow basket.", + "Pick the drink can with light brown shade using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to take the hand-sized metallic can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the smooth brown can with rounded edges, put it into the yellow basket, and lift the yellow basket.", + "Pick up the light brown can with smooth texture, put it in the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the drink can with light brown shade, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Pick up the brown can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Take the metal can with white decorative designs and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the metal can with printed white graphics, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Grab the hand-sized metallic can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Use the right arm to grab the smooth light brown can and place in the handheld basket, lift the handheld basket with another arm.", + "Place the small light brown cylindrical can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the right arm to pick the smooth brown can with rounded edges, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the metal can with printed white graphics, set it in the bright yellow basket, then lift the bright yellow basket.", + "Take the metal can with white decorative designs, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to hold the small light brown cylindrical can, drop the small light brown cylindrical can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the smooth brown can with rounded edges using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm for the brown can, place the brown can in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the light brown can with smooth texture, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Lift the rounded metallic can with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Grab the brown can, drop it into the yellow basket, and raise the yellow basket.", + "Use the same arm to grab the metal can with printed white graphics, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the metal can with printed white graphics, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the hand-sized metallic can, place it in the plastic basket, and then lift the plastic basket.", + "Hold the small light brown cylindrical can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Take the brown can, set it into the basket with black handle, and raise the basket with black handle.", + "Lift the hand-sized metallic can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the hand-sized metallic can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Take the metal can with printed white graphics in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Lift the small cylindrical drink container, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Grab and drop the rounded metallic can in the yellow basket, lift the yellow basket.", + "Grab the light brown can with smooth texture, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Pick the brown can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the smooth brown can with rounded edges using the right arm, drop the smooth brown can with rounded edges into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the brown can, place it in the handheld basket, and lift the handheld basket.", + "Lift the hand-sized metallic can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick the drink can with light brown shade with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the smooth light brown can, place it in the plastic basket, and then lift the plastic basket.", + "Pick the metal can with printed white graphics with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the light brown can with smooth texture with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the rounded metallic can inside the yellow basket, then lift the yellow basket.", + "Place the drink can with light brown shade in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Lift the white patterned brown metal can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Drop the metal can with printed white graphics into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Pick up the metal can with printed white graphics, set it inside the yellow basket, then lift the yellow basket.", + "Grab the smooth light brown can, set it into the yellow basket, then raise the yellow basket.", + "Lift the brown can, place it inside the handheld basket, and elevate the handheld basket.", + "Grab the metal can with printed white graphics, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Take the metal can with white decorative designs with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the metal can with white decorative designs, put it in the handheld basket, then raise the handheld basket.", + "Pick up the hand-sized metallic can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to take the metal can with white decorative designs, drop it in the handheld basket, and lift the handheld basket.", + "Pick up the light brown can with smooth texture, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the small cylindrical drink container, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the small light brown cylindrical can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick up the hand-sized metallic can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Take the hand-sized metallic can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the white patterned brown metal can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Grab the metal can with white decorative designs, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Use the right arm to grab the hand-sized metallic can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Place the light brown can with smooth texture in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Use the right arm to pick the drink can with light brown shade, place it inside the basket with black handle, then lift the basket with black handle." + ], + "unseen": [ + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..cbf22b2156e27372855ba62adccfbba28c8a5cf8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/aloha-agilex/meta/scene_info.json @@ -0,0 +1,654 @@ +{ + 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"table_texture": null + }, + "info": { + "{A}": "071_can/base6", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 5, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 6, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 7, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base0", + "{a}": "left" + } + }, + { + "episode_id": 8, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + { + 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"info": { + "{A}": "071_can/base3", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 14, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + { + "episode_id": 15, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base6", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 16, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + { + "episode_id": 17, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 18, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base3", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 19, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base0", + "{a}": "left" + } + }, + { + "episode_id": 20, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + { + "episode_id": 21, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base3", + "{B}": "110_basket/base0", + "{a}": "left" + } + }, + { + "episode_id": 22, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": 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"{B}": "110_basket/base1", + "{a}": "right" + } + }, + { + "episode_id": 32, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base0", + "{a}": "right" + } + }, + { + "episode_id": 33, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base3", + "{B}": "110_basket/base0", + "{a}": "left" + } + }, + { + "episode_id": 34, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base1", + "{B}": "110_basket/base0", + "{a}": "left" + } + }, + { + "episode_id": 35, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + { + "episode_id": 36, + "cluttered_table_info": [], + 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sha256:a3334710b6924d42367e55b69198dd63862eb81ac05920448189c7de7aa80420 +size 11687612 diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode6.hdf5 b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode6.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..998b4b27cd7806370945cf0f376fd546708db449 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode6.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39c3ab1930adbe93fa972bd3f4396370f3332920703a8b3cb56a11d139916eb9 +size 11350097 diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode7.hdf5 b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode7.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a4948472bf280440dbf9067b0519802d2fedabc2 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode7.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80f005210498af5d7a4ad9804e73e7649ddd5cd238d38a6d1a88daa3776fe106 +size 12699593 diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode8.hdf5 b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode8.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f65582d51d5eb7276a6fb10b5d87a8d05ae8b11d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27187ae1d437109cb82e1b056b06e06d3a1d1345388e9144db86ed022abee6b2 +size 13418170 diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode9.hdf5 b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6b6b20a447b16e38bb0b2be4b482dc4ea9d43907 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a02a463a0b02db47896aa0cc9cf6f57b8469a7ebb21c288274b128beb8f9175 +size 14376136 diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/config.yml b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/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_can_basket/franka-panda/meta/info.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..870a421c691281e7ca649a6e8d81188c1416c07c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "place_can_basket", + "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_can_basket/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff26ea6244cef0e1fc56953aa5e2d431a2a21b8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Pick the white can using the left arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the can with gold top lid, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the can with rounded cylindrical shape using the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Take the can with gold top lid, place it into the yellow basket, then lift the yellow basket.", + "Lift the smooth white can with accents, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Lift the cylindrical white glossy can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the small white can with branding with the left arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick the medium metal can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Place the red-orange text on white can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Place the can with red-orange text inside the basket with black handle, then lift the basket with black handle.", + "Grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Take the small white can with branding, set it into the plastic basket, and raise the plastic basket.", + "Grab the cylindrical white glossy can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick up the medium metal can, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the left arm to grab the medium metal can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Lift the can with rounded cylindrical shape, drop it into the plastic basket, then carry the plastic basket.", + "Place the beverage can with printed label in the plastic basket and then use another arm to lift the plastic basket.", + "Lift the can with sealed gold top with the left arm, set it in the rectangular yellow basket, and lift with another arm.", + "Lift the white can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the white can with 3D RADY label, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick up the small white can with branding, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the white can with 3D RADY label, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Take the medium metal can with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the medium metal can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Hold the red-orange text on white can using the left arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the white can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick the can with rounded cylindrical shape with the left arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Pick the can with gold top lid with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the left arm to take the medium metal can, drop it in the handheld basket, and lift the handheld basket.", + "Use the left arm to pick the small white can with branding, place it inside the plastic basket, then lift the plastic basket.", + "Pick up the beverage can with printed label, put it into the handheld basket, and lift the handheld basket.", + "Use the left arm to grab the can with red-orange text and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the left arm to grab the smooth white can with accents, place it in the yellow basket, and lift the yellow basket.", + "Grab the smooth white can with accents, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Grab the can with sealed gold top with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the plastic basket, and lift the plastic basket.", + "Grab the can with sealed gold top, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the basket with black handle, and then lift the basket with black handle.", + "Take the can with sealed gold top in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Grab the small white can with branding, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab the small white can with branding, drop it into the basket with black handle, and raise the basket with black handle.", + "Pick up the smooth white can with accents, place it into the bright yellow basket, then lift the bright yellow basket.", + "Drop the small white can with branding into the bright yellow basket using the left arm, then lift the bright yellow basket with another arm.", + "Grab the cylindrical white glossy can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab and drop the white can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Use the left arm to grab the smooth white can with accents, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the cylindrical white glossy can with the left arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick the can with sealed gold top using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Lift the can with red-orange text, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Pick up the smooth white can with accents using the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the red-orange text on white can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the small white can with branding, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Lift the can with rounded cylindrical shape, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Use the left arm to hold the white can, drop the white can into the handheld basket, and lift the handheld basket.", + "Pick up the white can with 3D RADY label with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Pick the can with sealed gold top, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the red-orange text on white can in the plastic basket and then lift the plastic basket.", + "Place the can with rounded cylindrical shape inside the handheld basket, then lift the handheld basket.", + "Grab the beverage can with printed label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the can with rounded cylindrical shape, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the cylindrical white glossy can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the medium metal can, put it in the basket with black handle, then raise the basket with black handle.", + "Pick up the beverage can with printed label, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to grab the small white can with branding, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Lift the can with red-orange text, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Place the can with red-orange text in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Lift the can with gold top lid with the left arm, set it in the basket with black handle, and lift with another arm.", + "Lift the small white can with branding, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the smooth white can with accents, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the small white can with branding, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the small white can with branding, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Take the beverage can with printed label with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the beverage can with printed label and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Hold the can with gold top lid using the left arm, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the small white can with branding, set it in the handheld basket, and elevate the handheld basket.", + "Pick the red-orange text on white can with the left arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick the can with sealed gold top with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the left arm to take the small white can with branding, drop it in the plastic basket, and lift the plastic basket.", + "Use the left arm to pick the medium metal can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the small white can with branding, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the left arm to grab the red-orange text on white can and place in the yellow basket, lift the yellow basket with another arm.", + "Use the left arm to grab the smooth white can with accents, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the white can with 3D RADY label, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Grab the cylindrical white glossy can with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the left arm for the can with gold top lid, place the can with gold top lid in the yellow basket, and lift the yellow basket.", + "Grab the cylindrical white glossy can, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Use the same arm to grab the white can with 3D RADY label, place in the handheld basket, and then lift the handheld basket.", + "Take the cylindrical white glossy can in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket, and lift the yellow basket upwards.", + "Grab the medium metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the white can with 3D RADY label, place it into the handheld basket, then lift the handheld basket.", + "Drop the medium metal can into the handheld basket using the left arm, then lift the handheld basket with another arm.", + "Grab the can with gold top lid, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab and drop the cylindrical white glossy can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Use the left arm to grab the smooth white can with accents, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick the can with red-orange text with the left arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm." + ], + "unseen": [ + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..fde6ed45b706159b29b549da3aaf5319cb4d5369 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the can with flat silver bottom, set it into the handheld basket, and raise the handheld basket.", + "Pick the can with flat silver bottom with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the red shiny can with green label, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick up the medium-sized soda can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the can with flat silver bottom, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Lift the red and white beverage can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm to grab the red drink can with white lid, put it into the yellow basket, and lift the yellow basket with another arm.", + "Use the right arm to grab the red shiny can with green label, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Drop the smooth red can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Take the red soda can with green accents with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the red shiny can with green label, drop it into the basket with black handle, then carry the basket with black handle.", + "Use the right arm to grab the metal can with red base and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the medium-sized soda can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the bright yellow basket, and lift the bright yellow basket.", + "Place the cylindrical metal can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the red can with decorative label with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the right arm for the red soda can with green accents, place the red soda can with green accents in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red can with decorative label, put it in the yellow basket, then raise the yellow basket.", + "Pick the red shiny can with green label with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the red drink can with white lid, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab and drop the can with flat silver bottom in the rectangular yellow basket, lift the rectangular yellow basket.", + "Take the red drink can with white lid and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Take the cylindrical metal can in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Place the medium-sized soda can in the yellow basket and then use another arm to lift the yellow basket.", + "Lift the medium-sized soda can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the smooth red can using the right arm, drop the smooth red can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Lift the medium-sized soda can, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the metal can with red base, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the red can with decorative label, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Pick up the metal can with red base with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the red shiny can with green label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Take the red shiny can with green label, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the red shiny can with green label using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it in the basket with black handle, and lift the basket with black handle.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm to take the drink can with smooth red finish, drop it in the plastic basket, and lift the plastic basket.", + "Place the red soda can with green accents inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to pick the can with flat silver bottom, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the metal can with red base with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Grab the cylindrical can with flat surfaces with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the red and white beverage can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the red and white beverage can, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the can with flat silver bottom, place it into the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the red and white beverage can, place in the handheld basket, and then lift the handheld basket.", + "Hold the red and white beverage can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the metal can with red base, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Grab the red and white beverage can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick up the red and white beverage can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red shiny can with green label, set it inside the plastic basket, then lift the plastic basket.", + "Pick the medium-sized soda can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the drink can with smooth red finish, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the smooth red can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the red shiny can with green label, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the metal can with red base, place it in the basket with black handle, and then lift the basket with black handle.", + "Lift the metal can with red base, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the metal can with red base, set it in the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the red drink can with white lid, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Use the right arm to grab the can with flat silver bottom, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Drop the red can with decorative label into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Take the cylindrical can with flat surfaces with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the red shiny can with green label, drop it into the handheld basket, then carry the handheld basket.", + "Use the right arm to grab the metal can with red base and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the smooth red can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Use the right arm to hold the red and white beverage can, drop the red and white beverage can into the basket with perforated sides, and lift the basket with perforated sides.", + "Place the medium-sized soda can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Pick the red shiny can with green label with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the medium-sized soda can, put it in the basket with black handle, then raise the basket with black handle.", + "Pick the red drink can with white lid with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Lift the medium-sized soda can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab and drop the red soda can with green accents in the rectangular yellow basket, lift the rectangular yellow basket.", + "Take the drink can with smooth red finish and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the red soda can with green accents in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Place the smooth red can in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Lift the metal can with red base, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab the drink can with smooth red finish using the right arm, drop the drink can with smooth red finish into the yellow basket and lift the yellow basket.", + "Lift the can with flat silver bottom, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the drink can with smooth red finish, drop it into the yellow basket, and raise the yellow basket.", + "Grab the cylindrical can with flat surfaces, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick up the red can with decorative label with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Grab the medium-sized soda can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the drink can with smooth red finish, place it into the handheld basket, then lift the handheld basket.", + "Pick the medium-sized soda can using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm to grab the red drink can with white lid, place it in the plastic basket, and lift the plastic basket.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to take the red shiny can with green label, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the red soda can with green accents inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to pick the smooth red can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the can with flat silver bottom with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Grab the smooth red can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the metal can with red base, set it in the handheld basket, and lift the handheld basket upward.", + "Pick up the red drink can with white lid, put it in the handheld basket, and lift the handheld basket.", + "Pick up the metal can with red base, place it into the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the cylindrical metal can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Hold the red can with decorative label using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the red shiny can with green label, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab the red soda can with green accents, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick up the red and white beverage can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the red shiny can with green label, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the medium-sized soda can, set it in the basket with perforated sides, then lift the basket with perforated sides." + ], + "unseen": [ + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..99cf4235b0fe8879a734c6d0f26ac8fbdcc36f15 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic can with rounded edges, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the palm-sized drink can, set it inside the basket with handle, then lift the basket with handle.", + "Lift the smooth red soda can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Hold the metallic can with rounded edges using the right arm, place it in the basket with handle, and lift the basket with handle.", + "Pick up the compact metal drink can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Take the red beverage can with curved top with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the red and gold cylindrical can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Use the right arm for the red beverage can with curved top, place the red beverage can with curved top in the brown basket, and lift the brown basket.", + "Pick up the gold-decorated aluminum can using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to take the metallic soda can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the gold patterned beverage can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Lift the red and gold cylindrical can, place it inside the basket with handle, and elevate the basket with handle.", + "Pick the compact metal drink can using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the smooth red soda can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the metallic soda can with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the smooth red soda can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick the palm-sized drink can, set it in the basket with loop handle, then lift the basket with loop handle.", + "Take the gold-decorated aluminum can, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the smooth red soda can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the right arm to grab the metallic can with rounded edges, put it into the woven basket, and lift the woven basket with another arm.", + "Place the red beverage can with curved top in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Use the right arm to grab the red beverage can with curved top, place it in the brown basket, and lift the brown basket.", + "Place the gold patterned beverage can in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick the red and gold cylindrical can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Place the red can with gold illustrations inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Drop the smooth red soda can into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick up the gold patterned beverage can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the red can with gold illustrations, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab the metallic can with rounded edges, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Grab the red and gold cylindrical can, drop it into the brown basket, then use another arm for the brown basket.", + "Pick the smooth red soda can with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the right arm to hold the metallic can with rounded edges, drop the metallic can with rounded edges into the woven basket, and lift the woven basket.", + "Grab the red beverage can with curved top, set it into the basket with loop handle, then raise the basket with loop handle.", + "Grab and drop the palm-sized drink can in the basket with handle, lift the basket with handle.", + "Use the right arm to pick the red can, place it inside the basket with handle, then lift the basket with handle.", + "Use the right arm to grab the red and gold cylindrical can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Take the smooth red soda can in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Use the same arm to grab the red and gold cylindrical can, place in the basket with loop handle, and then lift the basket with loop handle.", + "Use the right arm to grab the compact metal drink can and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick up the gold-decorated aluminum can, put it in the brown basket, and lift the brown basket.", + "Lift the red and gold cylindrical can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Pick the metallic can with rounded edges, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Lift the gold-decorated aluminum can with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Pick up the red beverage can with curved top with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Lift the gold-decorated aluminum can, set it in the woven basket, and elevate the woven basket.", + "Take the compact metal drink can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Pick the red beverage can with curved top with the right arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the basket for holding items and lift the basket for holding items.", + "Pick up the red and gold cylindrical can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the bright red drink container can, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Take the metallic can with rounded edges, set it into the brown basket, and raise the brown basket.", + "Pick up the metallic can with rounded edges, set it inside the brown basket, then lift the brown basket.", + "Lift the metallic can with rounded edges, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Hold the gold-decorated aluminum can using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the bright red drink container can, place it in the basket with handle, and then lift the basket with handle.", + "Take the metallic can with rounded edges with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the bright red drink container can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the right arm for the red and gold cylindrical can, place the red and gold cylindrical can in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the red beverage can with curved top using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Use the right arm to take the gold-decorated aluminum can, drop it in the basket for holding items, and lift the basket for holding items.", + "Lift the red beverage can with curved top, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Lift the red can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the red beverage can with curved top using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Grab the gold patterned beverage can, drop it into the basket for holding items, and raise the basket for holding items.", + "Grab the red can with the right arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Grab the red can with gold illustrations, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick the metallic soda can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the palm-sized drink can, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the red beverage can with curved top, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Use the right arm to grab the red can, put it into the brown basket, and lift the brown basket with another arm.", + "Place the gold patterned beverage can in the brown basket and then use another arm to lift the brown basket.", + "Use the right arm to grab the red can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the smooth red soda can in the basket for carrying things and then lift the basket for carrying things.", + "Pick the red and gold cylindrical can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Place the bright red drink container can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Drop the compact metal drink can into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick up the smooth red soda can, put it into the basket for carrying things, and lift the basket for carrying things.", + "Grab the compact metal drink can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Grab the compact metal drink can, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Grab the gold-decorated aluminum can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Pick the red beverage can with curved top with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the right arm to hold the compact metal drink can, drop the compact metal drink can into the light brown oval basket, and lift the light brown oval basket.", + "Grab the compact metal drink can, set it into the basket for holding items, then raise the basket for holding items.", + "Grab and drop the bright red drink container can in the light brown oval basket, lift the light brown oval basket.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the smooth red soda can, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Take the compact metal drink can in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Use the same arm to grab the metallic soda can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Use the right arm to grab the smooth red soda can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick up the gold patterned beverage can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the red can with gold illustrations, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick the red beverage can with curved top, set it in the brown basket, and lift the brown basket upward.", + "Lift the smooth red soda can with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Pick up the bright red drink container can with the right arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Lift the red can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Take the smooth red soda can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Pick the red can with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick up the palm-sized drink can, place it into the brown basket, then lift the brown basket.", + "Grab the red and gold cylindrical can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards." + ], + "unseen": [ + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..6edad7114e524063be2312307934441430271b94 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the metal can with red base into the brown basket using the left arm, then lift the brown basket with another arm.", + "Lift the drink can with smooth red finish, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Use the same arm to grab the cylindrical can with flat surfaces, place in the brown basket, and then lift the brown basket.", + "Lift the cylindrical can with flat surfaces, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Grab the medium-sized soda can using the left arm, drop the medium-sized soda can into the woven basket and lift the woven basket.", + "Use the left arm to hold the medium-sized soda can, drop the medium-sized soda can into the light brown oval basket, and lift the light brown oval basket.", + "Take the drink can with smooth red finish, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the medium-sized soda can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the cylindrical can with flat surfaces, place it in the brown basket, and raise the brown basket using the other arm.", + "Grab the red and white beverage can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Grab and drop the red can with decorative label in the brown basket, lift the brown basket.", + "Grab the red soda can with green accents, put it in the basket for holding items, then raise the basket for holding items.", + "Grab the cylindrical metal can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Use the left arm to grab the red soda can with green accents, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Pick the medium-sized soda can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Grab the medium-sized soda can, place it in the woven basket, and then lift the woven basket.", + "Pick up the red and white beverage can, place it in the brown basket, and then lift the brown basket.", + "Lift the metal can with red base, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the red can with decorative label with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Take the red drink can with white lid, place it into the woven basket, then lift the woven basket.", + "Pick the red and white beverage can with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the cylindrical metal can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Take the drink can with smooth red finish in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Take the red and white beverage can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the red soda can with green accents inside the woven basket, then lift the woven basket.", + "Use the left arm to grab the smooth red can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the drink can with smooth red finish, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Pick up the medium-sized soda can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm for the red shiny can with green label, place the red shiny can with green label in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the smooth red can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Pick the red drink can with white lid, set it in the brown basket, then lift the brown basket.", + "Lift the metal can with red base, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Pick up the red shiny can with green label, put it into the brown basket, and lift the brown basket.", + "Place the red shiny can with green label in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Place the medium-sized soda can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Grab the cylindrical can with flat surfaces, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Use the left arm to take the red shiny can with green label, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the metal can with red base, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab the red and white beverage can, drop it into the basket for holding items, and raise the basket for holding items.", + "Hold the cylindrical can with flat surfaces using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the cylindrical can with flat surfaces with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Pick the red and white beverage can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the left arm to grab the metal can with red base, place it in the woven basket, and lift the woven basket.", + "Use the left arm to pick the red drink can with white lid, place it inside the basket for holding items, then lift the basket for holding items.", + "Use the left arm to grab the cylindrical can with flat surfaces and place in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Lift the red shiny can with green label with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Pick up the smooth red can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the metal can with red base, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Lift the cylindrical can with flat surfaces, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Drop the can with flat silver bottom into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.", + "Lift the red shiny can with green label, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Use the same arm to grab the smooth red can, place in the basket with handle, and then lift the basket with handle.", + "Lift the smooth red can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Grab the metal can with red base using the left arm, drop the metal can with red base into the basket made of woven wood and lift the basket made of woven wood.", + "Use the left arm to hold the red shiny can with green label, drop the red shiny can with green label into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the medium-sized soda can, set it into the basket with handle, and raise the basket with handle.", + "Pick up the metal can with red base, put it in the brown basket, and lift the brown basket.", + "Grab the red can with decorative label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Grab the red and white beverage can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Grab and drop the red and white beverage can in the basket with loop handle, lift the basket with loop handle.", + "Grab the red and white beverage can, put it in the basket with loop handle, then raise the basket with loop handle.", + "Grab the red drink can with white lid, set it into the basket for holding items, then raise the basket for holding items.", + "Use the left arm to grab the can with flat silver bottom, place it into the woven basket, and lift the woven basket using the other arm.", + "Pick the can with flat silver bottom with the left arm, drop it in the woven basket, lift the woven basket with another arm.", + "Grab the medium-sized soda can, place it in the basket with handle, and then lift the basket with handle.", + "Pick up the metal can with red base, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the red can with decorative label, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the drink can with smooth red finish with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the medium-sized soda can, place it into the basket with handle, then lift the basket with handle.", + "Pick the can with flat silver bottom with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick up the metal can with red base using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Take the red can with decorative label in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Take the red shiny can with green label with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the drink can with smooth red finish inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the cylindrical can with flat surfaces, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Pick the red can with decorative label, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick up the red and white beverage can, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm for the can with flat silver bottom, place the can with flat silver bottom in the woven basket, and lift the woven basket.", + "Take the red soda can with green accents and put it in the basket with loop handle, then lift the basket with loop handle.", + "Pick the red can with decorative label, set it in the basket for holding items, then lift the basket for holding items.", + "Lift the cylindrical can with flat surfaces, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Pick up the red and white beverage can, put it into the basket with handle, and lift the basket with handle.", + "Place the red can with decorative label in the brown basket and then use another arm to lift the brown basket.", + "Place the cylindrical can with flat surfaces in the wooden basket with curved handle and then lift the wooden basket with curved handle.", + "Grab the cylindrical metal can, place it in the brown basket, and lift the brown basket upwards.", + "Use the left arm to take the cylindrical metal can, drop it in the woven basket, and lift the woven basket.", + "Lift the red soda can with green accents, place it inside the woven basket, and elevate the woven basket.", + "Grab the cylindrical can with flat surfaces, drop it into the woven basket, and raise the woven basket.", + "Hold the smooth red can using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the red soda can with green accents with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Pick the medium-sized soda can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the left arm to grab the red and white beverage can, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to pick the drink can with smooth red finish, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the can with flat silver bottom and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Lift the red drink can with white lid with the left arm, set it in the basket for holding items, and lift with another arm.", + "Pick up the red drink can with white lid, place it into the woven basket, then lift the woven basket.", + "Grab the red drink can with white lid, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Lift the red drink can with white lid, put it in the woven basket, and carry the woven basket afterward.", + "Pick the red drink can with white lid with one arm, place it in the brown basket, and lift the brown basket using another arm." + ], + "unseen": [ + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with red body, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can with white top, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..548fb89d934941d390619822b8129142c7895c00 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth white can with accents, set it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the can with gold top lid, place it in the basket with handle, and lift the basket with handle upwards.", + "Use the same arm to grab the red-orange text on white can, place in the basket for holding items, and then lift the basket for holding items.", + "Lift the smooth white can with accents with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Lift the white can with 3D RADY label, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick the can with rounded cylindrical shape with the right arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Take the cylindrical white glossy can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the cylindrical white glossy can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Pick up the beverage can with printed label, put it into the basket for carrying things, and lift the basket for carrying things.", + "Take the smooth white can with accents with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the small white can with branding using the right arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Pick the cylindrical white glossy can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Use the right arm to grab the smooth white can with accents, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the brown basket, and lift the brown basket.", + "Lift the cylindrical white glossy can, put it in the brown basket, and carry the brown basket afterward.", + "Lift the beverage can with printed label, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the red-orange text on white can, put it in the brown basket, and lift the brown basket.", + "Use the right arm to grab the red-orange text on white can, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Grab the white can with 3D RADY label using the right arm, drop the white can with 3D RADY label into the basket with handle and lift the basket with handle.", + "Use the right arm to take the smooth white can with accents, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the can with red-orange text, place it into the basket with loop handle, then lift the basket with loop handle.", + "Pick the can with sealed gold top, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Place the red-orange text on white can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick the cylindrical white glossy can, set it in the woven basket, then lift the woven basket.", + "Grab the red-orange text on white can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the white can with 3D RADY label, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab the white can with 3D RADY label, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Use the right arm for the medium metal can, place the medium metal can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the can with rounded cylindrical shape in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Pick up the white can with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Grab the red-orange text on white can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Grab the beverage can with printed label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the red-orange text on white can, set it inside the brown basket, then lift the brown basket.", + "Grab the can with rounded cylindrical shape, put it in the woven basket, then raise the woven basket.", + "Place the white can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the white can with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Take the red-orange text on white can in the right arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Use the right arm to grab the white can with 3D RADY label, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Lift the can with sealed gold top, drop it into the basket with handle, then carry the basket with handle.", + "Pick the white can with 3D RADY label using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Hold the white can using the right arm, place it in the brown basket, and lift the brown basket.", + "Grab the can with sealed gold top, set it into the woven basket, then raise the woven basket.", + "Pick up the can with gold top lid, place it in the basket with handle, and then lift the basket with handle.", + "Use the right arm to pick the can with red-orange text, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Drop the can with gold top lid into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Take the medium metal can, place it into the basket for holding items, then lift the basket for holding items.", + "Lift the can with rounded cylindrical shape, place it inside the basket with handle, and elevate the basket with handle.", + "Grab the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Grab and drop the can with red-orange text in the basket with handle, lift the basket with handle.", + "Use the right arm to grab the beverage can with printed label and place in the brown basket, lift the brown basket with another arm.", + "Take the white can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the can with red-orange text, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the same arm to grab the medium metal can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the can with rounded cylindrical shape with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Lift the can with rounded cylindrical shape, place it in the basket with loop handle, and raise the basket with loop handle.", + "Pick the red-orange text on white can with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Take the can with red-orange text and put it in the basket for holding items, then lift the basket for holding items.", + "Grab the cylindrical white glossy can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick up the medium metal can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the smooth white can with accents with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick up the cylindrical white glossy can using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick the small white can with branding with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Use the right arm to grab the smooth white can with accents, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to hold the can with red-orange text, drop the can with red-orange text into the woven basket, and lift the woven basket.", + "Lift the smooth white can with accents, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Lift the white can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick up the can with red-orange text, put it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to grab the red-orange text on white can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Grab the beverage can with printed label using the right arm, drop the beverage can with printed label into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Use the right arm to take the can with rounded cylindrical shape, drop it in the basket for holding items, and lift the basket for holding items.", + "Pick up the small white can with branding, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the smooth white can with accents, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Place the can with red-orange text in the basket for holding items and then use another arm to lift the basket for holding items.", + "Pick the small white can with branding, set it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the smooth white can with accents with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the small white can with branding, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Grab the red-orange text on white can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Use the right arm for the small white can with branding, place the small white can with branding in the brown basket, and lift the brown basket.", + "Place the cylindrical white glossy can in the brown basket and then lift the brown basket.", + "Pick up the beverage can with printed label with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the can with gold top lid, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Grab the smooth white can with accents, drop it into the woven basket, and raise the woven basket.", + "Pick up the can with red-orange text, set it inside the basket with handle, then lift the basket with handle.", + "Grab the smooth white can with accents, put it in the basket with handle, then raise the basket with handle.", + "Place the red-orange text on white can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the red-orange text on white can with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Take the white can in the right arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Use the right arm to grab the red-orange text on white can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Lift the can with gold top lid, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick the can with rounded cylindrical shape using the right arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Hold the can with sealed gold top using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the white can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick up the white can, place it in the woven basket, and then lift the woven basket.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the basket for holding items, then lift the basket for holding items.", + "Drop the smooth white can with accents into the woven basket using the right arm, then lift the woven basket with another arm.", + "Take the can with gold top lid, place it into the basket for carrying things, then lift the basket for carrying things.", + "Lift the cylindrical white glossy can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Grab the beverage can with printed label, place it in the woven basket, and then lift the woven basket.", + "Grab and drop the white can with 3D RADY label in the basket with handle, lift the basket with handle.", + "Use the right arm to grab the beverage can with printed label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm." + ], + "unseen": [ + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..0185f4b7ec45572e6ff573aa0050bd86cace3b2b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the metal can with pull-tab top, drop it in the basket with handle, and lift the basket with handle.", + "Pick up the red green beverage can using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Lift the beverage can with red green graphics, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Grab the red green beverage can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Place the red green can in the light brown oval basket and then lift the light brown oval basket.", + "Grab the small soda can with lime graphics, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick up the drink can with bright colors, place it into the basket with handle, then lift the basket with handle.", + "Grab the red green beverage can, place it in the brown basket, and then lift the brown basket.", + "Pick up the metallic drink can with pull-tab, set it inside the woven basket, then lift the woven basket.", + "Lift the red green can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Pick the green red metallic soda can, set it in the light brown oval basket, then lift the light brown oval basket.", + "Grab the beverage can with red green graphics, drop it into the basket with handle, then use another arm for the basket with handle.", + "Grab the drink can with bright colors, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Pick up the can with red green label, put it into the brown basket, and lift the brown basket.", + "Place the metal can with pull-tab top inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the small soda can with lime graphics with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the can with red green label using the right arm, drop the can with red green label into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Lift the drink can with bright colors with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Grab the metal can with pull-tab top, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the beverage can with red green graphics, put it in the woven basket, and lift the woven basket.", + "Grab the can with red green label, set it into the brown basket, then raise the brown basket.", + "Hold the red green beverage can using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the red green can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Lift the small soda can with lime graphics, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab and drop the drink can with bright colors in the light brown oval basket, lift the light brown oval basket.", + "Pick up the red green beverage can, place it in the woven basket, and then lift the woven basket.", + "Pick the drink can with bright colors with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Use the right arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the beverage can with red green graphics with the right arm, place into the basket with handle, the other arm raises the basket with handle.", + "Take the metallic drink can with pull-tab in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Grab the colorful can with lime and orange design, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Grab the red green can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the right arm to grab the metal can with pull-tab top, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Use the right arm to grab the soda can with lime illustration, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Take the soda can with lime illustration with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Lift the can with red green label, put it in the brown basket, and carry the brown basket afterward.", + "Take the colorful can with lime and orange design, set it into the basket with loop handle, and raise the basket with loop handle.", + "Lift the red green beverage can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Take the green red metallic soda can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick the can with red green label with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Place the can with red green label in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the right arm to grab the can with red green label, place it in the brown basket, and lift the brown basket.", + "Take the small soda can with lime graphics and put it in the brown basket, then lift the brown basket.", + "Drop the small soda can with lime graphics into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Use the right arm to grab the drink can with bright colors and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to pick the metallic drink can with pull-tab, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the green red metallic soda can using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Use the same arm to grab the red green can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the drink can with bright colors, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Use the right arm to take the soda can with lime illustration, drop it in the basket for holding items, and lift the basket for holding items.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Grab the metallic drink can with pull-tab, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Place the can with red green label in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Grab the can with red green label, put it in the basket with handle, then raise the basket with handle.", + "Pick up the small soda can with lime graphics, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the green red metallic soda can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the can with red green label, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the red green can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Pick the drink can with bright colors, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the metallic drink can with pull-tab, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Grab the metal can with pull-tab top, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Pick up the smooth cylindrical can with lime pattern, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the smooth cylindrical can with lime pattern inside the brown basket, then lift the brown basket.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the green red metallic soda can using the right arm, drop the green red metallic soda can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Lift the drink can with bright colors with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the colorful can with lime and orange design, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick up the metallic drink can with pull-tab, put it in the basket with handle, and lift the basket with handle.", + "Grab the colorful can with lime and orange design, set it into the basket for carrying things, then raise the basket for carrying things.", + "Hold the green red metallic soda can using the right arm, place it in the basket with handle, and lift the basket with handle.", + "Pick the soda can with lime illustration, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Lift the metallic drink can with pull-tab, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Grab and drop the red green beverage can in the light brown oval basket, lift the light brown oval basket.", + "Pick up the metal can with pull-tab top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the right arm to hold the red green can, drop the red green can into the basket for holding items, and lift the basket for holding items.", + "Pick up the can with red green label with the right arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.", + "Grab the metallic drink can with pull-tab, place it in the brown basket, and raise the brown basket using the other arm.", + "Grab the beverage can with red green graphics with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the right arm to grab the soda can with lime illustration, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Use the right arm to grab the red green can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Take the green red metallic soda can with the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the red green beverage can, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Take the green red metallic soda can, set it into the woven basket, and raise the woven basket.", + "Lift the can with red green label, place it in the basket with loop handle, and raise the basket with loop handle.", + "Take the smooth cylindrical can with lime pattern, place it into the brown basket, then lift the brown basket.", + "Pick the small soda can with lime graphics with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Place the smooth cylindrical can with lime pattern in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the drink can with bright colors and put it in the basket with loop handle, then lift the basket with loop handle.", + "Drop the beverage can with red green graphics into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Use the right arm to grab the metal can with pull-tab top and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Use the right arm for the red green can, place the red green can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to pick the beverage can with red green graphics, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the soda can with lime illustration using the right arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Use the same arm to grab the colorful can with lime and orange design, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the red green beverage can, drop it into the brown basket, then carry the brown basket." + ], + "unseen": [ + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the hand-sized can with metallic finish and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..ca28692b68ef7f2f2032376e6da0f62b5a807aa2 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red can with white lettering with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Lift the cylindrical red drink can with logo with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the red can with white lettering, put it in the basket for holding items, then raise the basket for holding items.", + "Grab the small aluminum red drink can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Lift the rounded red Coca-Cola soda container, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Lift the Coca-Cola can, place it in the light brown oval basket, and raise the light brown oval basket.", + "Pick the red can with white lettering, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the red can with white lettering using the right arm, drop the red can with white lettering into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Use the right arm to grab the cylindrical red drink can with logo, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Grab the Coca-Cola soda can, place it in the basket for holding items, and then lift the basket for holding items.", + "Pick up the Coca-Cola soda can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the red can with smooth metallic texture and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Lift the small aluminum red drink can, drop it into the brown basket, then carry the brown basket.", + "Use the right arm to grab the Coca-Cola soda can, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the hand-sized red can for drinks, set it in the basket for holding items, and lift the basket for holding items upward.", + "Place the rounded red Coca-Cola soda container in the woven basket and then lift the woven basket.", + "Grab and drop the Coca-Cola can in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Lift the metallic red beverage can, place it inside the basket with handle, and elevate the basket with handle.", + "Pick up the red can with white Coca-Cola logo with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Grab the cylindrical red drink can with logo, set it into the basket with handle, then raise the basket with handle.", + "Pick up the red can with white Coca-Cola logo, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red can with white lettering, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Grab the red can with smooth metallic texture, drop it into the basket for holding items, and raise the basket for holding items.", + "Pick the red can with white Coca-Cola logo using the right arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the rounded red Coca-Cola soda container with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the red can with white lettering, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Hold the metallic red beverage can using the right arm, place it in the basket with handle, and lift the basket with handle.", + "Grab the red can with smooth metallic texture with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Take the red cylindrical can with silver top in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Use the right arm to grab the Coca-Cola soda can, put it into the woven basket, and lift the woven basket with another arm.", + "Pick up the red can with white Coca-Cola logo, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the red can with white Coca-Cola logo with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Place the red can with smooth metallic texture inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the red cylindrical can with silver top, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Take the rounded red Coca-Cola soda container and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the Coca-Cola can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the hand-sized red can for drinks, put it into the woven basket, and lift the woven basket.", + "Pick the hand-sized red can for drinks with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Place the red can with white Coca-Cola logo in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Use the same arm to grab the smooth red can with silver bottom, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Lift the Coca-Cola soda can, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Pick up the smooth red can with silver bottom using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Drop the cylindrical red drink can with logo into the wooden basket with curved handle using the right arm, then lift the wooden basket with curved handle with another arm.", + "Take the red can with white Coca-Cola logo, place it into the basket for carrying things, then lift the basket for carrying things.", + "Take the smooth red can with silver bottom, set it into the light brown oval basket, and raise the light brown oval basket.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the basket with handle, and lift the basket with handle.", + "Use the right arm to pick the red can with smooth metallic texture, place it inside the basket for holding items, then lift the basket for holding items.", + "Use the right arm to take the Coca-Cola soda can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the small aluminum red drink can, place it in the brown basket, and raise the brown basket using the other arm.", + "Use the right arm to hold the red can with white Coca-Cola logo, drop the red can with white Coca-Cola logo into the brown basket, and lift the brown basket.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the metallic red beverage can with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Grab the Coca-Cola soda can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the red can with white Coca-Cola logo, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Lift the small aluminum red drink can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the red can with smooth metallic texture, place it in the basket for holding items, and raise the basket for holding items.", + "Pick the metallic red beverage can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the Coca-Cola soda can using the right arm, drop the Coca-Cola soda can into the basket with handle and lift the basket with handle.", + "Use the right arm to grab the smooth red can with silver bottom, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Grab the rounded red Coca-Cola soda container, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the red can with white lettering, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the cylindrical red drink can with logo and place in the woven basket, lift the woven basket with another arm.", + "Lift the red can with white lettering, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Use the right arm to grab the Coca-Cola soda can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the red can with white lettering, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Place the Coca-Cola soda can in the basket for carrying things and then lift the basket for carrying things.", + "Grab and drop the metallic red beverage can in the basket with loop handle, lift the basket with loop handle.", + "Lift the Coca-Cola can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick up the red can with smooth metallic texture with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Grab the smooth red can with silver bottom, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the small aluminum red drink can, place it into the woven basket, then lift the woven basket.", + "Grab the red can with smooth metallic texture, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Grab the smooth red can with silver bottom, drop it into the basket with handle, and raise the basket with handle.", + "Pick the Coca-Cola can using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the red can with white Coca-Cola logo with one arm, place it in the woven basket, and lift the woven basket using another arm.", + "Lift the metallic red beverage can, place it in the woven basket, pick up the woven basket afterward.", + "Hold the hand-sized red can for drinks using the right arm, place it in the brown basket, and lift the brown basket.", + "Grab the metallic red beverage can with the right arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Take the smooth red can with silver bottom in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Use the right arm to grab the Coca-Cola soda can, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the red can with smooth metallic texture, put it in the basket with handle, and lift the basket with handle.", + "Take the cylindrical red drink can with logo with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the red can with white Coca-Cola logo inside the basket for holding items, then lift the basket for holding items.", + "Grab the metallic red beverage can, place it in the brown basket, and lift the brown basket upwards.", + "Take the rounded red Coca-Cola soda container and put it in the basket with loop handle, then lift the basket with loop handle.", + "Pick up the hand-sized red can for drinks, place it in the brown basket, and then lift the brown basket.", + "Pick up the red cylindrical can with silver top, put it into the woven basket, and lift the woven basket.", + "Pick the Coca-Cola soda can with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Place the rounded red Coca-Cola soda container in the basket with handle and then use another arm to lift the basket with handle.", + "Use the same arm to grab the red can with white lettering, place in the brown basket, and then lift the brown basket.", + "Lift the smooth red can with silver bottom, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Pick up the red can with white Coca-Cola logo using the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Drop the Coca-Cola can into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Take the red can with smooth metallic texture, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Take the small aluminum red drink can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm to pick the red can with white lettering, place it inside the brown basket, then lift the brown basket.", + "Use the right arm to take the smooth red can with silver bottom, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the small aluminum red drink can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Use the right arm to hold the metallic red beverage can, drop the metallic red beverage can into the brown basket with woven ridges, and lift the brown basket with woven ridges." + ], + "unseen": [ + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..baf73d3e13c10787950a4f88305ba702612b2a8f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the can with flat silver bottom, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Grab the red and white beverage can, drop it into the basket with handle, and raise the basket with handle.", + "Grab the cylindrical can with flat surfaces, set it into the brown basket, then raise the brown basket.", + "Pick the metal can with red base with the right arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the cylindrical metal can, set it inside the woven basket, then lift the woven basket.", + "Grab the red drink can with white lid, place it in the brown basket, and then lift the brown basket.", + "Grab the medium-sized soda can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Lift the red drink can with white lid, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Place the cylindrical metal can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick up the red and white beverage can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Use the right arm to hold the smooth red can, drop the smooth red can into the basket made of woven wood, and lift the basket made of woven wood.", + "Take the red can with decorative label and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the medium-sized soda can, place it inside the woven basket, and elevate the woven basket.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the same arm to grab the can with flat silver bottom, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Place the cylindrical can with flat surfaces inside the brown basket, then lift the brown basket.", + "Lift the red can with decorative label with the right arm, set it in the woven basket, and lift with another arm.", + "Pick up the smooth red can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to take the red drink can with white lid, drop it in the woven basket, and lift the woven basket.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the smooth red can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Lift the red shiny can with green label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Take the cylindrical metal can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red drink can with white lid with the right arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Pick the red shiny can with green label using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick the medium-sized soda can, set it in the basket with handle, then lift the basket with handle.", + "Hold the drink can with smooth red finish using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the red can with decorative label, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Use the right arm to grab the red soda can with green accents, put it into the basket with handle, and lift the basket with handle with another arm.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick up the smooth red can, put it in the basket for holding items, and lift the basket for holding items.", + "Pick up the cylindrical can with flat surfaces, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Use the right arm to grab the red soda can with green accents, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the smooth red can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Take the red can with decorative label in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Grab the smooth red can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Take the red soda can with green accents with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Lift the cylindrical can with flat surfaces, set it in the basket for holding items, and elevate the basket for holding items.", + "Use the right arm to grab the drink can with smooth red finish and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the red can with decorative label, place it in the brown basket, and lift the brown basket upwards.", + "Drop the medium-sized soda can into the smooth ribbed light brown basket using the right arm, then lift the smooth ribbed light brown basket with another arm.", + "Lift the can with flat silver bottom, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Place the metal can with red base in the basket for carrying things and then lift the basket for carrying things.", + "Pick up the red soda can with green accents, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Take the can with flat silver bottom, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the medium-sized soda can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick the drink can with smooth red finish, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Pick up the medium-sized soda can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick the red soda can with green accents with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab and drop the cylindrical can with flat surfaces in the basket with loop handle, lift the basket with loop handle.", + "Use the right arm to grab the medium-sized soda can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab the cylindrical metal can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the drink can with smooth red finish, set it into the woven basket, then raise the woven basket.", + "Pick the red drink can with white lid with the right arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the red shiny can with green label, set it inside the basket with handle, then lift the basket with handle.", + "Grab the can with flat silver bottom, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the cylindrical metal can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Lift the cylindrical can with flat surfaces, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Place the medium-sized soda can in the basket with handle and then use another arm to lift the basket with handle.", + "Pick up the red can with decorative label with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Use the right arm to hold the smooth red can, drop the smooth red can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the red can with decorative label and put it in the woven basket, then lift the woven basket.", + "Lift the can with flat silver bottom, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Use the right arm to pick the red and white beverage can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the same arm to grab the cylindrical can with flat surfaces, place in the basket for holding items, and then lift the basket for holding items.", + "Place the red and white beverage can inside the basket for holding items, then lift the basket for holding items.", + "Lift the medium-sized soda can with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Pick up the red can with decorative label, put it into the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to take the red soda can with green accents, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm for the red soda can with green accents, place the red soda can with green accents in the basket for holding items, and lift the basket for holding items.", + "Grab the cylindrical can with flat surfaces, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Lift the red and white beverage can, place it in the basket with handle, and raise the basket with handle.", + "Take the cylindrical metal can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the smooth red can with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick the red and white beverage can using the right arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the cylindrical metal can, set it in the basket with handle, then lift the basket with handle.", + "Hold the smooth red can using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Grab the drink can with smooth red finish, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Use the right arm to grab the can with flat silver bottom, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Grab the smooth red can using the right arm, drop the smooth red can into the woven basket and lift the woven basket.", + "Pick up the cylindrical can with flat surfaces, put it in the basket for holding items, and lift the basket for holding items.", + "Pick up the red shiny can with green label, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the right arm to grab the medium-sized soda can, place it in the brown basket, and lift the brown basket.", + "Pick the red shiny can with green label with the right arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the red shiny can with green label in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Grab the cylindrical metal can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Take the smooth red can with the right arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Lift the red can with decorative label, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Use the right arm to grab the can with flat silver bottom and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Grab the cylindrical metal can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Drop the red drink can with white lid into the brown basket using the right arm, then lift the brown basket with another arm.", + "Lift the cylindrical can with flat surfaces, place it in the woven basket, pick up the woven basket afterward.", + "Place the can with flat silver bottom in the brown basket and then lift the brown basket.", + "Pick up the red drink can with white lid, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Take the red soda can with green accents, set it into the woven basket, and raise the woven basket.", + "Lift the medium-sized soda can, drop it into the woven basket, then carry the woven basket.", + "Pick the medium-sized soda can, set it in the woven basket, and lift the woven basket upward.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab and drop the red drink can with white lid in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body." + ], + "unseen": [ + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with red body, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with red body and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can with white top, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with red body, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with red body, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with red body and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the red can with white top, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can with white top, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with red body, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can with white top, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with red body, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can with white top, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..9980ef9d558fa52d176a7205b55eab9d7975d90f --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical metal can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick up the cylindrical can with flat surfaces, set it inside the basket with black handle, then lift the basket with black handle.", + "Pick the metal can with red base with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the smooth red can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the cylindrical can with flat surfaces using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the can with flat silver bottom, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the red can with decorative label, place it in the basket with black handle, and lift the basket with black handle.", + "Pick up the medium-sized soda can with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Use the right arm to grab the medium-sized soda can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Grab the cylindrical can with flat surfaces, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the red shiny can with green label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Lift the medium-sized soda can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Place the medium-sized soda can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red soda can with green accents using the right arm, drop the red soda can with green accents into the plastic basket and lift the plastic basket.", + "Grab the can with flat silver bottom, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Take the red shiny can with green label in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick the smooth red can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to take the red shiny can with green label, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the drink can with smooth red finish, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the red drink can with white lid, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the can with flat silver bottom, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Grab the medium-sized soda can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the right arm to pick the red shiny can with green label, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the smooth red can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the cylindrical metal can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Hold the drink can with smooth red finish using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Pick the can with flat silver bottom with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the red drink can with white lid with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Use the right arm to hold the cylindrical metal can, drop the cylindrical metal can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the red soda can with green accents in the basket with arched black grip, lift the basket with arched black grip.", + "Use the right arm to grab the cylindrical can with flat surfaces and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the cylindrical metal can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Place the red and white beverage can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Use the same arm to grab the smooth red can, place in the basket with black handle, and then lift the basket with black handle.", + "Pick up the drink can with smooth red finish, put it into the yellow basket, and lift the yellow basket.", + "Place the metal can with red base in the basket with black handle and then lift the basket with black handle.", + "Lift the cylindrical can with flat surfaces, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Take the medium-sized soda can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the drink can with smooth red finish, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Drop the red drink can with white lid into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the red shiny can with green label, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Take the cylindrical can with flat surfaces, place it into the plastic basket, then lift the plastic basket.", + "Pick up the can with flat silver bottom, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the smooth red can with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the metal can with red base with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the red soda can with green accents, place it in the yellow basket, pick up the yellow basket afterward.", + "Lift the smooth red can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the red shiny can with green label, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick up the can with flat silver bottom, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the red drink can with white lid, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick up the red soda can with green accents, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the metal can with red base with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the smooth red can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the can with flat silver bottom using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the red shiny can with green label, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it in the plastic basket, and lift the plastic basket.", + "Pick up the red and white beverage can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Use the right arm to grab the red shiny can with green label, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Grab the medium-sized soda can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the metal can with red base, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Place the smooth red can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the rectangular yellow basket and lift the rectangular yellow basket.", + "Grab the cylindrical metal can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Take the medium-sized soda can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick the red drink can with white lid using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm to take the metal can with red base, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm for the cylindrical metal can, place the cylindrical metal can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the red drink can with white lid, drop it into the yellow basket, and raise the yellow basket.", + "Pick up the drink can with smooth red finish, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the drink can with smooth red finish, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the red can with decorative label, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Use the right arm to pick the can with flat silver bottom, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red shiny can with green label, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick the red soda can with green accents with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Hold the cylindrical metal can using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the red and white beverage can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Lift the cylindrical can with flat surfaces with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Use the right arm to hold the smooth red can, drop the smooth red can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab and drop the red and white beverage can in the bright yellow basket, lift the bright yellow basket.", + "Use the right arm to grab the red soda can with green accents and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the red and white beverage can, drop it into the handheld basket, then carry the handheld basket.", + "Place the metal can with red base in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the same arm to grab the red can with decorative label, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the red can with decorative label, put it into the plastic basket, and lift the plastic basket.", + "Place the red shiny can with green label in the plastic basket and then lift the plastic basket.", + "Lift the red shiny can with green label, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Take the red soda can with green accents and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the medium-sized soda can, set it into the handheld basket, and raise the handheld basket.", + "Drop the cylindrical metal can into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Grab the red drink can with white lid, put it in the basket with black handle, then raise the basket with black handle.", + "Take the medium-sized soda can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the can with flat silver bottom, put it in the yellow basket, and lift the yellow basket.", + "Take the red can with decorative label with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the red shiny can with green label with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Lift the medium-sized soda can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Lift the red drink can with white lid, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth red can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick up the cylindrical metal can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket." + ], + "unseen": [ + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..0d367a2971b74cef24e32eaeb35faa709b02dd6d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bright red drink container can, set it into the handheld basket, then raise the handheld basket.", + "Grab the smooth red soda can, place it in the yellow basket, and lift the yellow basket upwards.", + "Lift the red can with gold illustrations, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab and drop the red beverage can with curved top in the plastic basket, lift the plastic basket.", + "Lift the bright red drink container can, drop it into the yellow basket, then carry the yellow basket.", + "Take the gold patterned beverage can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick up the bright red drink container can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the red and gold cylindrical can, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the palm-sized drink can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the red can with gold illustrations, drop it into the handheld basket, and raise the handheld basket.", + "Grab the smooth red soda can with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the smooth red soda can in the bright yellow basket and then lift the bright yellow basket.", + "Take the smooth red soda can, place it into the plastic basket, then lift the plastic basket.", + "Grab the gold-decorated aluminum can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Use the right arm to grab the red and gold cylindrical can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Pick the red can with gold illustrations, set it in the yellow basket, and lift the yellow basket upward.", + "Pick up the smooth red soda can, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the metallic can with rounded edges with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Lift the metallic can with rounded edges, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the red beverage can with curved top using the right arm, drop the red beverage can with curved top into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the red can with gold illustrations, set it inside the plastic basket, then lift the plastic basket.", + "Lift the metallic soda can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Use the right arm to take the red can, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the metallic can with rounded edges, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Take the metallic can with rounded edges and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Hold the gold patterned beverage can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the red beverage can with curved top, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Lift the gold-decorated aluminum can, place it inside the yellow basket, and elevate the yellow basket.", + "Pick up the gold-decorated aluminum can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the red can with gold illustrations with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the palm-sized drink can, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the gold-decorated aluminum can and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the red and gold cylindrical can using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the red can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Pick up the metallic soda can, place it into the plastic basket, then lift the plastic basket.", + "Pick the bright red drink container can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the right arm to pick the gold patterned beverage can, place it inside the basket with black handle, then lift the basket with black handle.", + "Lift the compact metal drink can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Drop the red can with gold illustrations into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Take the red beverage can with curved top, set it into the plastic basket, and raise the plastic basket.", + "Use the right arm to grab the red and gold cylindrical can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the palm-sized drink can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Grab the red beverage can with curved top, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Pick the gold patterned beverage can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Place the palm-sized drink can inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the bright yellow basket, and lift the bright yellow basket.", + "Place the gold patterned beverage can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Use the right arm for the metallic soda can, place the metallic soda can in the bright yellow basket, and lift the bright yellow basket.", + "Take the metallic can with rounded edges with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the red can with gold illustrations, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Grab the red beverage can with curved top, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red and gold cylindrical can, place it in the handheld basket, and lift the handheld basket upwards.", + "Lift the red can with gold illustrations, place it in the yellow basket, and raise the yellow basket.", + "Grab and drop the red and gold cylindrical can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Lift the metallic can with rounded edges, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Take the palm-sized drink can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick up the metallic can with rounded edges, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the red can with gold illustrations, place in the basket with black handle, and then lift the basket with black handle.", + "Pick the bright red drink container can with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the gold-decorated aluminum can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the smooth red soda can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Place the red and gold cylindrical can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Take the gold-decorated aluminum can, place it into the handheld basket, then lift the handheld basket.", + "Grab the red can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Use the right arm to grab the metallic can with rounded edges, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick the metallic can with rounded edges, set it in the plastic basket, and lift the plastic basket upward.", + "Pick up the red and gold cylindrical can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the red can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the gold patterned beverage can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the gold patterned beverage can using the right arm, drop the gold patterned beverage can into the bright yellow basket and lift the bright yellow basket.", + "Pick up the smooth red soda can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the smooth red soda can, put it in the handheld basket, and carry the handheld basket afterward.", + "Use the right arm to take the smooth red soda can, drop it in the plastic basket, and lift the plastic basket.", + "Grab the red beverage can with curved top, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Take the red can with gold illustrations and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Hold the red and gold cylindrical can using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the palm-sized drink can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the palm-sized drink can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick up the red can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the red beverage can with curved top with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the bright red drink container can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the smooth red soda can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick up the metallic soda can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the gold patterned beverage can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the red can with gold illustrations, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the bright red drink container can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to pick the red can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the red and gold cylindrical can with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Drop the red and gold cylindrical can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Take the palm-sized drink can, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the palm-sized drink can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the gold-decorated aluminum can, set it in the plastic basket, and elevate the plastic basket.", + "Grab the gold patterned beverage can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick the red beverage can with curved top using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Place the gold-decorated aluminum can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to hold the red can, drop the red can into the basket with black handle, and lift the basket with black handle.", + "Place the red can with gold illustrations in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Use the right arm for the metallic soda can, place the metallic soda can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the gold-decorated aluminum can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the plastic basket, and lift the plastic basket with another arm." + ], + "unseen": [ + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..aac20340219e52d3526002c55cf804877f7780ee --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the same arm to grab the can with sealed gold top, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the medium metal can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Take the medium metal can in the left arm, place it into the woven basket, another arm lifts the woven basket.", + "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Drop the beverage can with printed label into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Take the white can and put it in the woven basket, then lift the woven basket.", + "Use the left arm to take the cylindrical white glossy can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the small white can with branding, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the cylindrical white glossy can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket with handle, and lift the basket with handle.", + "Pick the can with sealed gold top using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the medium metal can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the small white can with branding, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Take the medium metal can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Hold the smooth white can with accents using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the red-orange text on white can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the beverage can with printed label, place it in the basket for holding items, and raise the basket for holding items.", + "Pick the cylindrical white glossy can with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Use the left arm to grab the white can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the medium metal can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the white can with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket made of woven wood and lift the basket made of woven wood.", + "Pick up the beverage can with printed label, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the can with red-orange text inside the basket for holding items, then lift the basket for holding items.", + "Use the left arm to pick the medium metal can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Pick up the can with sealed gold top using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick the beverage can with printed label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Pick up the can with sealed gold top, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Place the can with gold top lid in the woven basket and then lift the woven basket.", + "Grab the small white can with branding, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the smooth white can with accents, put it into the basket for holding items, and lift the basket for holding items.", + "Grab the smooth white can with accents, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the left arm to grab the can with gold top lid, put it into the brown basket, and lift the brown basket with another arm.", + "Pick the white can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the left arm to grab the cylindrical white glossy can, place it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the small white can with branding, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Pick up the can with sealed gold top with the left arm, place into the basket with handle, the other arm raises the basket with handle.", + "Grab the beverage can with printed label, put it in the woven basket, then raise the woven basket.", + "Lift the beverage can with printed label, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Grab the smooth white can with accents, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Take the can with sealed gold top, place it into the basket with loop handle, then lift the basket with loop handle.", + "Pick the cylindrical white glossy can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the can with sealed gold top, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Take the can with gold top lid with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the can with sealed gold top, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab and drop the can with gold top lid in the basket for carrying things, lift the basket for carrying things.", + "Place the white can with 3D RADY label in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Lift the cylindrical white glossy can, put it in the brown basket, and carry the brown basket afterward.", + "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Use the same arm to grab the medium metal can, place in the basket with handle, and then lift the basket with handle.", + "Pick the red-orange text on white can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the cylindrical white glossy can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the medium metal can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Drop the beverage can with printed label into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Take the smooth white can with accents and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm to take the beverage can with printed label, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the cylindrical white glossy can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the small white can with branding using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to grab the small white can with branding, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Take the can with gold top lid, set it into the woven basket, and raise the woven basket.", + "Hold the beverage can with printed label using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the small white can with branding with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the white can, place it in the basket for holding items, and raise the basket for holding items.", + "Pick the can with sealed gold top with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Use the left arm to grab the small white can with branding and place in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the white can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Lift the medium metal can with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket made of woven wood and lift the basket made of woven wood.", + "Pick up the can with sealed gold top, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Place the white can inside the woven basket, then lift the woven basket.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the cylindrical white glossy can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the can with red-orange text, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick up the white can with 3D RADY label, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Place the cylindrical white glossy can in the basket with loop handle and then lift the basket with loop handle.", + "Grab the white can, set it into the woven basket, then raise the woven basket.", + "Pick up the small white can with branding, put it into the woven basket, and lift the woven basket.", + "Grab the medium metal can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Use the left arm to grab the cylindrical white glossy can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the can with red-orange text with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the left arm to grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the beverage can with printed label, drop it into the basket for holding items, then carry the basket for holding items.", + "Pick up the red-orange text on white can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab the can with sealed gold top, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Lift the can with red-orange text, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Grab the can with gold top lid, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Take the red-orange text on white can, place it into the basket with handle, then lift the basket with handle.", + "Pick the smooth white can with accents with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the medium metal can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Take the white can with 3D RADY label with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Lift the beverage can with printed label, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab and drop the can with sealed gold top in the basket with handle, lift the basket with handle.", + "Place the can with rounded cylindrical shape in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Lift the smooth white can with accents, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Grab the can with sealed gold top, drop it into the light brown oval basket, and raise the light brown oval basket." + ], + "unseen": [ + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..c451dcf8a9870f6c55555ea1ac909b4f2232b2a8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the palm-sized drink can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the smooth red soda can with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Pick up the red can, put it in the brown basket, and lift the brown basket.", + "Pick up the compact metal drink can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Use the right arm to take the red beverage can with curved top, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the gold-decorated aluminum can, set it into the basket for holding items, then raise the basket for holding items.", + "Pick the red and gold cylindrical can, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Lift the red beverage can with curved top, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Use the right arm to grab the gold patterned beverage can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick up the palm-sized drink can with the right arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Grab the red and gold cylindrical can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Pick the red can with gold illustrations with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Take the red can with gold illustrations, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the metallic soda can with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Take the metallic can with rounded edges with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Use the right arm to pick the metallic can with rounded edges, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the right arm for the bright red drink container can, place the bright red drink container can in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the gold patterned beverage can, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the smooth red soda can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Drop the gold-decorated aluminum can into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Pick up the red can with gold illustrations, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the gold-decorated aluminum can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the same arm to grab the gold patterned beverage can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the gold patterned beverage can, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the red beverage can with curved top, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Use the right arm to grab the compact metal drink can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Take the bright red drink container can, set it into the woven basket, and raise the woven basket.", + "Grab and drop the palm-sized drink can in the light brown oval basket, lift the light brown oval basket.", + "Place the metallic can with rounded edges in the woven basket and then use another arm to lift the woven basket.", + "Lift the compact metal drink can with the right arm, set it in the basket for holding items, and lift with another arm.", + "Take the bright red drink container can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the right arm to hold the red can, drop the red can into the light brown oval basket, and lift the light brown oval basket.", + "Lift the gold-decorated aluminum can, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Lift the palm-sized drink can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Pick up the bright red drink container can using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the bright red drink container can in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Grab the red and gold cylindrical can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Grab the red can with the right arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the bright red drink container can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Place the gold-decorated aluminum can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the smooth red soda can using the right arm, drop the smooth red soda can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick up the metallic can with rounded edges, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the metallic can with rounded edges, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the red beverage can with curved top, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Hold the red beverage can with curved top using the right arm, place it in the woven basket, and lift the woven basket.", + "Place the red can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Pick up the red can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the red can with gold illustrations using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the red beverage can with curved top, place it in the woven basket, pick up the woven basket afterward.", + "Use the right arm to grab the gold-decorated aluminum can, place it in the brown basket, and lift the brown basket.", + "Pick the red and gold cylindrical can with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick up the gold-decorated aluminum can, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the palm-sized drink can, set it inside the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the compact metal drink can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Use the right arm to take the metallic soda can, drop it in the woven basket, and lift the woven basket.", + "Grab the red can, set it into the woven basket, then raise the woven basket.", + "Pick the gold-decorated aluminum can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Lift the red can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the right arm to grab the smooth red soda can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Pick up the red beverage can with curved top with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Grab the red beverage can with curved top, put it in the basket for holding items, then raise the basket for holding items.", + "Pick the metallic can with rounded edges with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the red beverage can with curved top, place it into the basket for holding items, then lift the basket for holding items.", + "Pick the metallic can with rounded edges with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Take the smooth red soda can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the basket for holding items, then lift the basket for holding items.", + "Use the right arm for the gold patterned beverage can, place the gold patterned beverage can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the red beverage can with curved top, set it in the brown basket, then lift the brown basket.", + "Grab the smooth red soda can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Drop the red beverage can with curved top into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick up the compact metal drink can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the metallic soda can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Use the same arm to grab the metallic can with rounded edges, place in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the gold patterned beverage can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Grab the smooth red soda can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Use the right arm to grab the metallic can with rounded edges, place it into the brown basket, and lift the brown basket using the other arm.", + "Take the palm-sized drink can, set it into the basket with handle, and raise the basket with handle.", + "Grab and drop the metallic soda can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Place the bright red drink container can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Lift the metallic soda can with the right arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Take the red can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Use the right arm to hold the red can, drop the red can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the gold-decorated aluminum can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Lift the red and gold cylindrical can, set it in the basket with handle, and elevate the basket with handle.", + "Pick up the red can using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Take the red can with gold illustrations in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Grab the red and gold cylindrical can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Grab the bright red drink container can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the metallic can with rounded edges, drop it into the woven basket, and raise the woven basket.", + "Place the compact metal drink can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the smooth red soda can using the right arm, drop the smooth red soda can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick up the gold patterned beverage can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Lift the bright red drink container can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the compact metal drink can, place it in the basket for holding items, and then lift the basket for holding items.", + "Hold the bright red drink container can using the right arm, place it in the brown basket, and lift the brown basket.", + "Place the metallic can with rounded edges in the basket with loop handle and then lift the basket with loop handle.", + "Pick up the red beverage can with curved top, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick the red beverage can with curved top using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the palm-sized drink can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward." + ], + "unseen": [ + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with gold logo design, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small aluminum can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the can with gold logo design, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with gold logo design, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with gold logo design, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the gold and red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with gold logo design, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small aluminum can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..87b5be7345af42ed43a5cb9337707c6d1d4a6a63 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red and gold cylindrical can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the metallic can with rounded edges with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the red can with gold illustrations with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Lift the red and gold cylindrical can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Drop the bright red drink container can into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Grab the gold-decorated aluminum can, place it in the yellow basket, and lift the yellow basket upwards.", + "Use the right arm to grab the metallic can with rounded edges and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the red can with gold illustrations, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Use the same arm to grab the red can with gold illustrations, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the smooth red soda can, place it into the yellow basket, then lift the yellow basket.", + "Grab the gold patterned beverage can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the bright red drink container can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Take the red beverage can with curved top, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the compact metal drink can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick the bright red drink container can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to take the palm-sized drink can, drop it in the yellow basket, and lift the yellow basket.", + "Pick up the metallic soda can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Take the bright red drink container can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick up the red can, put it into the yellow basket, and lift the yellow basket.", + "Take the bright red drink container can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the plastic basket, then lift the plastic basket.", + "Grab the red can with gold illustrations, drop it into the basket with black handle, and raise the basket with black handle.", + "Take the red beverage can with curved top, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the red beverage can with curved top, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the red beverage can with curved top, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the gold patterned beverage can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the compact metal drink can using the right arm, drop the compact metal drink can into the basket with arched black grip and lift the basket with arched black grip.", + "Pick the gold-decorated aluminum can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the gold patterned beverage can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Use the right arm for the bright red drink container can, place the bright red drink container can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the red and gold cylindrical can in the handheld basket and then use another arm to lift the handheld basket.", + "Grab the red beverage can with curved top with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the metallic can with rounded edges using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Lift the gold-decorated aluminum can, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the metallic can with rounded edges, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick up the smooth red soda can, set it inside the plastic basket, then lift the plastic basket.", + "Grab the metallic soda can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the metallic soda can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Place the palm-sized drink can in the basket with perforated sides and then lift the basket with perforated sides.", + "Pick the gold patterned beverage can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the palm-sized drink can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the gold patterned beverage can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the metallic can with rounded edges, place it in the basket with black handle, and raise the basket with black handle.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the plastic basket, and lift the plastic basket.", + "Grab and drop the compact metal drink can in the basket with perforated sides, lift the basket with perforated sides.", + "Place the smooth red soda can inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the gold-decorated aluminum can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the metallic can with rounded edges, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Hold the palm-sized drink can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the gold patterned beverage can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the red can with gold illustrations, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Lift the metallic soda can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Pick the gold patterned beverage can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the bright red drink container can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Drop the smooth red soda can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Grab the metallic soda can, place it in the handheld basket, and lift the handheld basket upwards.", + "Use the right arm to grab the red can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the smooth red soda can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the same arm to grab the bright red drink container can, place in the plastic basket, and then lift the plastic basket.", + "Pick up the gold-decorated aluminum can, place it into the yellow basket, then lift the yellow basket.", + "Grab the red and gold cylindrical can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the right arm to grab the compact metal drink can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the red can with gold illustrations, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the red can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the red can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to take the red can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the red and gold cylindrical can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the gold-decorated aluminum can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the gold-decorated aluminum can, put it into the handheld basket, and lift the handheld basket.", + "Take the bright red drink container can and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to pick the metallic soda can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the bright red drink container can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Take the compact metal drink can, place it into the handheld basket, then lift the handheld basket.", + "Pick the gold patterned beverage can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the smooth red soda can, place it in the handheld basket, and lift the handheld basket.", + "Take the palm-sized drink can with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Grab the bright red drink container can using the right arm, drop the bright red drink container can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the compact metal drink can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Grab the smooth red soda can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the right arm for the red can, place the red can in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the metallic soda can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab the red can with gold illustrations with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the gold patterned beverage can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the smooth red soda can, put it in the yellow basket, and carry the yellow basket afterward.", + "Grab the gold-decorated aluminum can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick up the bright red drink container can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red can, put it in the yellow basket, then raise the yellow basket.", + "Pick up the smooth red soda can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Place the gold patterned beverage can in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick the red beverage can with curved top with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the metallic can with rounded edges, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the metallic can with rounded edges, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the smooth red soda can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to hold the gold patterned beverage can, drop the gold patterned beverage can into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab and drop the gold-decorated aluminum can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Place the red beverage can with curved top inside the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the metallic can with rounded edges, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the gold-decorated aluminum can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Hold the metallic soda can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the gold-decorated aluminum can using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm." + ], + "unseen": [ + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..3118cf3a22481eefabf408568be91d289e0348b6 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the beverage can with printed label into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Grab the can with gold top lid, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Pick up the cylindrical white glossy can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the cylindrical white glossy can, place it in the basket for holding items, and raise the basket for holding items.", + "Use the left arm to take the small white can with branding, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the beverage can with printed label, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Take the can with gold top lid, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the can with sealed gold top with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick the cylindrical white glossy can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the can with red-orange text, set it into the woven basket, and raise the woven basket.", + "Pick up the cylindrical white glossy can, place it in the basket for holding items, and then lift the basket for holding items.", + "Use the left arm to grab the beverage can with printed label and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Lift the cylindrical white glossy can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick up the smooth white can with accents using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Lift the cylindrical white glossy can with the left arm, set it in the basket for holding items, and lift with another arm.", + "Grab the red-orange text on white can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the basket made of woven wood and lift the basket made of woven wood.", + "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the light brown oval basket, and lift the light brown oval basket.", + "Lift the can with rounded cylindrical shape, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Place the can with gold top lid in the basket for carrying things and then lift the basket for carrying things.", + "Pick the small white can with branding, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the can with red-orange text, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Place the cylindrical white glossy can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the smooth white can with accents with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Take the can with red-orange text with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the can with gold top lid, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Use the left arm to grab the beverage can with printed label, place it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the can with sealed gold top, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick up the medium metal can, put it into the basket with loop handle, and lift the basket with loop handle.", + "Hold the can with rounded cylindrical shape using the left arm, place it in the basket with handle, and lift the basket with handle.", + "Grab the red-orange text on white can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Use the same arm to grab the can with sealed gold top, place in the woven basket, and then lift the woven basket.", + "Take the medium metal can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Pick the can with red-orange text, set it in the basket with handle, and lift the basket with handle upward.", + "Pick the cylindrical white glossy can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Place the can with sealed gold top in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Use the left arm to pick the medium metal can, place it inside the woven basket, then lift the woven basket.", + "Use the left arm to grab the can with rounded cylindrical shape, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket for carrying things, and lift the basket for carrying things.", + "Grab the smooth white can with accents, set it into the woven basket, then raise the woven basket.", + "Pick up the smooth white can with accents, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the cylindrical white glossy can with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab and drop the can with rounded cylindrical shape in the basket for holding items, lift the basket for holding items.", + "Pick up the can with red-orange text with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Grab the beverage can with printed label, place it in the woven basket, and then lift the woven basket.", + "Lift the can with gold top lid, set it in the brown basket, and elevate the brown basket.", + "Take the smooth white can with accents and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the can with rounded cylindrical shape, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Use the left arm to grab the cylindrical white glossy can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Grab the red-orange text on white can, drop it into the woven basket, and raise the woven basket.", + "Drop the can with gold top lid into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.", + "Grab the smooth white can with accents, drop it into the brown basket, then use another arm for the brown basket.", + "Pick up the can with gold top lid, put it in the basket for holding items, and lift the basket for holding items.", + "Lift the cylindrical white glossy can, place it in the woven basket, and raise the woven basket.", + "Use the left arm to take the medium metal can, drop it in the woven basket, and lift the woven basket.", + "Lift the can with sealed gold top, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Take the white can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the beverage can with printed label with the left arm, put it into the brown basket, and lift the brown basket with the other arm.", + "Pick the red-orange text on white can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the medium metal can, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Use the left arm to grab the medium metal can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Lift the cylindrical white glossy can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Pick up the cylindrical white glossy can using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Lift the white can with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the medium metal can, put it in the basket with handle, then raise the basket with handle.", + "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the light brown oval basket, and lift the light brown oval basket.", + "Lift the can with sealed gold top, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.", + "Place the cylindrical white glossy can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Pick the cylindrical white glossy can, set it in the basket for holding items, then lift the basket for holding items.", + "Pick up the white can with 3D RADY label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the white can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the white can with 3D RADY label with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Take the beverage can with printed label with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the cylindrical white glossy can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Use the left arm to grab the cylindrical white glossy can, place it in the woven basket, and lift the woven basket.", + "Grab the can with rounded cylindrical shape, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Pick up the can with red-orange text, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Hold the can with red-orange text using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the smooth white can with accents, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Use the same arm to grab the cylindrical white glossy can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Take the can with sealed gold top in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Pick the small white can with branding, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Pick the red-orange text on white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Place the medium metal can in the brown basket and then use another arm to lift the brown basket.", + "Use the left arm to pick the small white can with branding, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to grab the can with rounded cylindrical shape, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the brown basket, and lift the brown basket.", + "Grab the can with sealed gold top, set it into the woven basket, then raise the woven basket.", + "Pick up the can with red-orange text, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the white can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab and drop the small white can with branding in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the small white can with branding with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Grab the can with rounded cylindrical shape, place it in the basket for holding items, and then lift the basket for holding items.", + "Lift the beverage can with printed label, set it in the woven basket, and elevate the woven basket.", + "Take the can with gold top lid and put it in the woven basket, then lift the woven basket.", + "Lift the can with rounded cylindrical shape, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Use the left arm to grab the white can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Grab the medium metal can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket." + ], + "unseen": [ + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..9a282fa59d1f793deb9a924995ad1d5cd258305d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the metallic can with rounded edges, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the gold-decorated aluminum can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Use the same arm to grab the bright red drink container can, place in the plastic basket, and then lift the plastic basket.", + "Place the red can in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the palm-sized drink can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Take the red can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Use the right arm to grab the bright red drink container can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Place the compact metal drink can inside the handheld basket, then lift the handheld basket.", + "Grab the palm-sized drink can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Lift the compact metal drink can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the palm-sized drink can, put it in the plastic basket, and lift the plastic basket.", + "Grab the red and gold cylindrical can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the red can with gold illustrations, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the red and gold cylindrical can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Use the right arm to grab the smooth red soda can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the red can with gold illustrations, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the metallic can with rounded edges, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the gold patterned beverage can in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick the gold-decorated aluminum can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick the bright red drink container can using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Drop the palm-sized drink can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Pick up the red beverage can with curved top, put it into the yellow basket, and lift the yellow basket.", + "Take the compact metal drink can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the gold-decorated aluminum can in the yellow basket and then lift the yellow basket.", + "Hold the metallic soda can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the smooth red soda can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the red and gold cylindrical can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the right arm to grab the red and gold cylindrical can, place it in the plastic basket, and lift the plastic basket.", + "Pick up the gold patterned beverage can using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the right arm to pick the metallic can with rounded edges, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm for the red and gold cylindrical can, place the red and gold cylindrical can in the bright yellow basket, and lift the bright yellow basket.", + "Grab the red beverage can with curved top, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick the red can with gold illustrations, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick the red can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the metallic soda can, place it into the handheld basket, then lift the handheld basket.", + "Lift the gold patterned beverage can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Lift the metallic soda can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Lift the metallic soda can, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the gold-decorated aluminum can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick up the smooth red soda can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the gold-decorated aluminum can with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the red can using the right arm, drop the red can into the plastic basket and lift the plastic basket.", + "Grab and drop the gold patterned beverage can in the basket with black handle, lift the basket with black handle.", + "Grab the metallic can with rounded edges, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the compact metal drink can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Pick up the palm-sized drink can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to take the gold-decorated aluminum can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the red beverage can with curved top, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick up the bright red drink container can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick up the red can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red beverage can with curved top, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the same arm to grab the smooth red soda can, place in the bright yellow basket, and then lift the bright yellow basket.", + "Place the metallic can with rounded edges in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Use the right arm to grab the metallic can with rounded edges, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Take the red can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to grab the red and gold cylindrical can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Place the metallic soda can inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the gold patterned beverage can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Lift the red beverage can with curved top, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the red can with gold illustrations, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the metallic can with rounded edges, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the smooth red soda can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the smooth red soda can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Use the right arm to grab the red beverage can with curved top, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the metallic can with rounded edges, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the gold patterned beverage can, set it in the plastic basket, and elevate the plastic basket.", + "Take the metallic soda can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick the palm-sized drink can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick the red can with gold illustrations using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Drop the palm-sized drink can into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Pick up the red can with gold illustrations, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the red and gold cylindrical can and put it in the plastic basket, then lift the plastic basket.", + "Place the metallic can with rounded edges in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Hold the metallic soda can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the metallic soda can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the red beverage can with curved top, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the right arm to grab the red can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the red beverage can with curved top using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to pick the palm-sized drink can, place it inside the plastic basket, then lift the plastic basket.", + "Use the right arm for the metallic can with rounded edges, place the metallic can with rounded edges in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the gold patterned beverage can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick the red and gold cylindrical can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Pick the bright red drink container can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Take the metallic soda can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the red beverage can with curved top with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Lift the bright red drink container can, put it in the yellow basket, and carry the yellow basket afterward.", + "Lift the palm-sized drink can, place it in the plastic basket, and raise the plastic basket.", + "Grab the compact metal drink can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick up the red beverage can with curved top, place it into the basket with black handle, then lift the basket with black handle.", + "Pick the red and gold cylindrical can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the metallic soda can using the right arm, drop the metallic soda can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab and drop the red and gold cylindrical can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the compact metal drink can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Use the right arm to hold the red can with gold illustrations, drop the red can with gold illustrations into the plastic basket, and lift the plastic basket.", + "Take the smooth red soda can with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the red can with gold illustrations, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the right arm to take the bright red drink container can, drop it in the handheld basket, and lift the handheld basket.", + "Lift the metallic soda can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the red can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket." + ], + "unseen": [ + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..c29bad30b94ccd35d96611bc16a6dc222ccf040c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical can with flat surfaces, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick up the medium-sized soda can, put it into the basket with black handle, and lift the basket with black handle.", + "Take the red shiny can with green label, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red and white beverage can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Pick up the can with flat silver bottom, place it into the yellow basket, then lift the yellow basket.", + "Place the smooth red can in the handheld basket and then use another arm to lift the handheld basket.", + "Use the right arm to pick the red shiny can with green label, place it inside the handheld basket, then lift the handheld basket.", + "Pick the red can with decorative label, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Use the right arm to grab the medium-sized soda can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Grab and drop the cylindrical metal can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the smooth red can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Take the cylindrical metal can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the red drink can with white lid, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the metal can with red base, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Place the drink can with smooth red finish inside the yellow basket, then lift the yellow basket.", + "Pick the drink can with smooth red finish with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick the red soda can with green accents with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the red can with decorative label, put it in the yellow basket, and carry the yellow basket afterward.", + "Pick up the red drink can with white lid using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Drop the medium-sized soda can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Grab the smooth red can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Take the cylindrical metal can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the cylindrical can with flat surfaces, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the medium-sized soda can, place it in the yellow basket, and raise the yellow basket.", + "Use the right arm to grab the red drink can with white lid and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the metal can with red base, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the medium-sized soda can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the can with flat silver bottom with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Hold the red can with decorative label using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the drink can with smooth red finish using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Lift the red drink can with white lid with the right arm, set it in the plastic basket, and lift with another arm.", + "Lift the cylindrical can with flat surfaces, place it inside the plastic basket, and elevate the plastic basket.", + "Pick the red can with decorative label, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red and white beverage can, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Use the same arm to grab the red shiny can with green label, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Take the red shiny can with green label in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick up the cylindrical can with flat surfaces, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to take the red soda can with green accents, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the red and white beverage can in the bright yellow basket and then lift the bright yellow basket.", + "Use the right arm to hold the metal can with red base, drop the metal can with red base into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the red soda can with green accents, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Take the drink can with smooth red finish with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the red shiny can with green label, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the right arm for the red and white beverage can, place the red and white beverage can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the red soda can with green accents with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the cylindrical metal can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the right arm to grab the smooth red can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the cylindrical metal can using the right arm, drop the cylindrical metal can into the bright yellow basket and lift the bright yellow basket.", + "Grab the cylindrical metal can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Grab the red soda can with green accents, drop it into the yellow basket, and raise the yellow basket.", + "Lift the cylindrical metal can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Pick up the can with flat silver bottom, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the red drink can with white lid, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the can with flat silver bottom, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick up the smooth red can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the red shiny can with green label in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Use the right arm to pick the red shiny can with green label, place it inside the yellow basket, then lift the yellow basket.", + "Pick the smooth red can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Use the right arm to grab the metal can with red base, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab and drop the red shiny can with green label in the basket with perforated sides, lift the basket with perforated sides.", + "Grab the red can with decorative label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Take the red and white beverage can and put it in the yellow basket, then lift the yellow basket.", + "Pick up the red shiny can with green label, place it in the yellow basket, and then lift the yellow basket.", + "Pick up the medium-sized soda can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the cylindrical metal can inside the handheld basket, then lift the handheld basket.", + "Pick the red soda can with green accents with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick the drink can with smooth red finish with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the red and white beverage can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick up the red soda can with green accents using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Drop the medium-sized soda can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the can with flat silver bottom, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Take the red drink can with white lid, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the smooth red can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the red drink can with white lid, place it in the plastic basket, and raise the plastic basket.", + "Use the right arm to grab the red drink can with white lid and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the cylindrical metal can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the red and white beverage can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the red shiny can with green label with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Hold the smooth red can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the medium-sized soda can using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Lift the red soda can with green accents with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Lift the smooth red can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick the red drink can with white lid, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the drink can with smooth red finish, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Use the same arm to grab the red shiny can with green label, place in the plastic basket, and then lift the plastic basket.", + "Take the cylindrical metal can in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Pick up the medium-sized soda can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to take the cylindrical metal can, drop it in the handheld basket, and lift the handheld basket.", + "Place the red soda can with green accents in the yellow basket and then lift the yellow basket.", + "Use the right arm to hold the red soda can with green accents, drop the red soda can with green accents into the basket with black handle, and lift the basket with black handle.", + "Grab the red drink can with white lid, drop it into the yellow basket, then use another arm for the yellow basket.", + "Take the smooth red can with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to grab the drink can with smooth red finish, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Use the right arm for the cylindrical metal can, place the cylindrical metal can in the basket with black handle, and lift the basket with black handle.", + "Pick up the drink can with smooth red finish with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Lift the smooth red can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the right arm to grab the red and white beverage can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the cylindrical can with flat surfaces using the right arm, drop the cylindrical can with flat surfaces into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab the medium-sized soda can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Grab the metal can with red base, drop it into the plastic basket, and raise the plastic basket." + ], + "unseen": [ + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9b8b82ed1a22845a6770b0b2defd503a295261 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white can, set it into the basket for holding items, then raise the basket for holding items.", + "Grab the white can, put it in the basket for holding items, then raise the basket for holding items.", + "Use the right arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm to grab the can with rounded cylindrical shape, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Place the beverage can with printed label in the brown basket and then use another arm to lift the brown basket.", + "Take the red-orange text on white can in the right arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Use the right arm to grab the smooth white can with accents, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the beverage can with printed label, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the right arm to grab the small white can with branding and place in the basket for holding items, lift the basket for holding items with another arm.", + "Lift the smooth white can with accents, drop it into the woven basket, then carry the woven basket.", + "Lift the medium metal can with the right arm, set it in the basket for holding items, and lift with another arm.", + "Lift the can with gold top lid, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Grab and drop the small white can with branding in the basket for carrying things, lift the basket for carrying things.", + "Lift the small white can with branding, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Place the beverage can with printed label in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Take the smooth white can with accents, place it into the brown basket, then lift the brown basket.", + "Use the right arm to pick the can with rounded cylindrical shape, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the can with red-orange text, set it inside the basket with handle, then lift the basket with handle.", + "Grab the can with sealed gold top, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the can with red-orange text with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Pick up the medium metal can with the right arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the basket for holding items and lift the basket for holding items.", + "Grab the can with gold top lid, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Grab the white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick up the small white can with branding, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Hold the smooth white can with accents using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the smooth white can with accents and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the white can with 3D RADY label, set it into the basket with loop handle, and raise the basket with loop handle.", + "Pick the white can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the smooth white can with accents inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the can with red-orange text, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Drop the red-orange text on white can into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Grab the medium metal can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Lift the red-orange text on white can, set it in the woven basket, and elevate the woven basket.", + "Pick up the white can with 3D RADY label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the can with gold top lid, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Use the right arm to take the white can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the can with rounded cylindrical shape, place it in the light brown oval basket, and raise the light brown oval basket.", + "Pick the white can with 3D RADY label with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the can with sealed gold top with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab the small white can with branding, drop it into the basket with handle, and raise the basket with handle.", + "Pick up the smooth white can with accents using the right arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Pick the beverage can with printed label with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Pick the white can using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick up the can with rounded cylindrical shape, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the white can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the cylindrical white glossy can with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to grab the can with red-orange text, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Grab the white can with 3D RADY label, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the white can with 3D RADY label, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the right arm for the medium metal can, place the medium metal can in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to grab the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Place the red-orange text on white can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Take the can with red-orange text in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Use the right arm to grab the white can with 3D RADY label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the can with sealed gold top, place it in the basket with handle, and then lift the basket with handle.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the basket with handle, lift the basket with handle with another arm.", + "Lift the white can, drop it into the basket for holding items, then carry the basket for holding items.", + "Lift the smooth white can with accents with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Lift the smooth white can with accents, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab and drop the can with sealed gold top in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Lift the cylindrical white glossy can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Place the can with gold top lid in the light brown oval basket and then lift the light brown oval basket.", + "Take the white can with 3D RADY label, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the white can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the cylindrical white glossy can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Use the same arm to grab the cylindrical white glossy can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Take the can with rounded cylindrical shape with the right arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Pick up the red-orange text on white can with the right arm, place into the basket with handle, the other arm raises the basket with handle.", + "Grab the small white can with branding using the right arm, drop the small white can with branding into the light brown oval basket and lift the light brown oval basket.", + "Grab the can with red-orange text, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Grab the can with sealed gold top, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick up the can with sealed gold top, place it in the basket for holding items, and then lift the basket for holding items.", + "Use the right arm to hold the smooth white can with accents, drop the smooth white can with accents into the brown basket, and lift the brown basket.", + "Hold the medium metal can using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Take the smooth white can with accents and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Take the red-orange text on white can, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick the white can with 3D RADY label, set it in the brown basket, then lift the brown basket.", + "Place the cylindrical white glossy can inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the can with red-orange text, place it in the woven basket, pick up the woven basket afterward.", + "Drop the beverage can with printed label into the basket made of woven wood using the right arm, then lift the basket made of woven wood with another arm.", + "Grab the can with gold top lid, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Lift the cylindrical white glossy can, set it in the woven basket, and elevate the woven basket.", + "Pick up the can with red-orange text, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the red-orange text on white can, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Use the right arm to take the can with gold top lid, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the white can with 3D RADY label, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick the small white can with branding with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the white can with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items.", + "Pick up the can with gold top lid using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick the can with gold top lid with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick the medium metal can using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick up the can with sealed gold top, put it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the small white can with branding, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the red-orange text on white can with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm to grab the white can, place it into the woven basket, and lift the woven basket using the other arm." + ], + "unseen": [ + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..a80be9a7e82ca05d5f296657cb06ff417cd1e307 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white can in the left arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Lift the white can with 3D RADY label, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Use the left arm to hold the white can, drop the white can into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the beverage can with printed label, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the left arm to grab the red-orange text on white can, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the beverage can with printed label, place it in the handheld basket, and then lift the handheld basket.", + "Use the left arm to grab the red-orange text on white can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Grab the can with gold top lid, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick up the can with rounded cylindrical shape using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Place the can with sealed gold top in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Use the left arm to pick the can with gold top lid, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the can with gold top lid, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the red-orange text on white can with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Pick up the small white can with branding with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the white can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Grab the white can using the left arm, drop the white can into the basket with arched black grip and lift the basket with arched black grip.", + "Grab and drop the white can in the basket with black handle, lift the basket with black handle.", + "Pick the medium metal can with the left arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Pick up the can with gold top lid, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the small white can with branding, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Take the white can with 3D RADY label, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the small white can with branding, place it into the handheld basket, then lift the handheld basket.", + "Pick up the white can with 3D RADY label, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the small white can with branding with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the cylindrical white glossy can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Lift the beverage can with printed label, place it inside the handheld basket, and elevate the handheld basket.", + "Pick up the cylindrical white glossy can, place it into the yellow basket, then lift the yellow basket.", + "Pick the medium metal can using the left arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the left arm to grab the can with rounded cylindrical shape and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the white can with 3D RADY label, put it in the bright yellow basket, then raise the bright yellow basket.", + "Place the medium metal can inside the plastic basket, then lift the plastic basket.", + "Grab the cylindrical white glossy can with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the can with red-orange text and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the beverage can with printed label, drop it into the plastic basket, then carry the plastic basket.", + "Place the cylindrical white glossy can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the left arm for the can with gold top lid, place the can with gold top lid in the handheld basket, and lift the handheld basket.", + "Use the left arm to take the can with gold top lid, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the smooth white can with accents with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the white can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Lift the smooth white can with accents, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick up the medium metal can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the can with sealed gold top, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Pick the cylindrical white glossy can, set it in the plastic basket, and lift the plastic basket upward.", + "Hold the white can with 3D RADY label using the left arm, place it in the yellow basket, and lift the yellow basket.", + "Use the left arm to grab the cylindrical white glossy can, put it into the plastic basket, and lift the plastic basket with another arm.", + "Pick the beverage can with printed label, set it in the yellow basket, then lift the yellow basket.", + "Drop the smooth white can with accents into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Use the same arm to grab the beverage can with printed label, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Take the smooth white can with accents with the left arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Take the small white can with branding in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Lift the beverage can with printed label, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the white can with 3D RADY label, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the left arm to grab the red-orange text on white can, place it in the handheld basket, and lift the handheld basket.", + "Grab the can with sealed gold top, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the left arm to grab the can with sealed gold top, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Grab the smooth white can with accents, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Pick up the smooth white can with accents using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Place the medium metal can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Use the left arm to pick the red-orange text on white can, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the beverage can with printed label, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the white can with 3D RADY label with the left arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Pick up the beverage can with printed label with the left arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab the white can with 3D RADY label, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the bright yellow basket and lift the bright yellow basket.", + "Grab and drop the red-orange text on white can in the yellow basket, lift the yellow basket.", + "Pick the can with sealed gold top with the left arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the small white can with branding, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the can with sealed gold top, set it into the yellow basket, then raise the yellow basket.", + "Take the smooth white can with accents, set it into the basket with black handle, and raise the basket with black handle.", + "Take the can with sealed gold top, place it into the yellow basket, then lift the yellow basket.", + "Pick up the beverage can with printed label, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the smooth white can with accents with the left arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the white can with 3D RADY label, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Lift the can with red-orange text, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick up the white can with 3D RADY label, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick the white can using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the left arm to grab the small white can with branding and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the can with sealed gold top, put it in the yellow basket, then raise the yellow basket.", + "Place the white can with 3D RADY label inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the medium metal can and put it in the yellow basket, then lift the yellow basket.", + "Lift the red-orange text on white can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Place the medium metal can in the yellow basket and then use another arm to lift the yellow basket.", + "Use the left arm for the small white can with branding, place the small white can with branding in the handheld basket, and lift the handheld basket.", + "Use the left arm to take the medium metal can, drop it in the yellow basket, and lift the yellow basket.", + "Pick the white can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the smooth white can with accents, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Lift the can with rounded cylindrical shape, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the can with sealed gold top, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Pick up the medium metal can, put it in the plastic basket, and lift the plastic basket.", + "Lift the white can, set it in the plastic basket, and elevate the plastic basket.", + "Pick the smooth white can with accents, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Hold the beverage can with printed label using the left arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the left arm to grab the can with sealed gold top, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick the can with sealed gold top, set it in the plastic basket, then lift the plastic basket.", + "Drop the medium metal can into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Use the same arm to grab the beverage can with printed label, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Take the smooth white can with accents with the left arm, drop it into the plastic basket, and lift the plastic basket using another arm." + ], + "unseen": [ + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..89c749477c9a9396cb70cab95c108be216fa0e72 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal can with printed white graphics with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the metal can with white decorative designs, set it in the basket with loop handle, then lift the basket with loop handle.", + "Take the drink can with light brown shade, place it into the woven basket, then lift the woven basket.", + "Lift the brown can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Pick up the white patterned brown metal can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the small light brown cylindrical can, drop it into the woven basket, then carry the woven basket.", + "Pick the small cylindrical drink container with the right arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Use the right arm to pick the metal can with white decorative designs, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the rounded metallic can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the drink can with light brown shade, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the smooth brown can with rounded edges and put it in the brown basket, then lift the brown basket.", + "Grab the white patterned brown metal can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the white patterned brown metal can, set it into the woven basket, then raise the woven basket.", + "Use the right arm to grab the rounded metallic can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Grab the drink can with light brown shade using the right arm, drop the drink can with light brown shade into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick the brown can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Pick up the smooth brown can with rounded edges using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm to grab the smooth light brown can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Take the light brown can with smooth texture in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Take the metal can with printed white graphics, set it into the basket with loop handle, and raise the basket with loop handle.", + "Use the right arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the rounded metallic can with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Place the metal can with printed white graphics inside the basket with loop handle, then lift the basket with loop handle.", + "Pick the smooth brown can with rounded edges with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Drop the smooth brown can with rounded edges into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Lift the metal can with white decorative designs, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Lift the small light brown cylindrical can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Lift the smooth brown can with rounded edges, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Pick up the rounded metallic can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the same arm to grab the brown can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab the metal can with printed white graphics, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab and drop the rounded metallic can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Hold the white patterned brown metal can using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to grab the drink can with light brown shade and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick the small cylindrical drink container using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the light brown can with smooth texture with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the smooth brown can with rounded edges, drop it into the brown basket, and raise the brown basket.", + "Grab the hand-sized metallic can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Use the right arm to grab the smooth light brown can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Lift the smooth light brown can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Grab the drink can with light brown shade, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Use the right arm to take the small light brown cylindrical can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the rounded metallic can with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab the metal can with white decorative designs, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Place the smooth brown can with rounded edges in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Pick up the metal can with printed white graphics, put it in the basket for carrying things, and lift the basket for carrying things.", + "Place the small light brown cylindrical can in the woven basket and then lift the woven basket.", + "Grab the metal can with white decorative designs, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Pick the brown can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the smooth brown can with rounded edges with the right arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Pick the light brown can with smooth texture, set it in the woven basket, then lift the woven basket.", + "Take the small light brown cylindrical can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the metal can with printed white graphics, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Pick up the rounded metallic can, set it inside the basket with handle, then lift the basket with handle.", + "Lift the brown can, drop it into the basket with handle, then carry the basket with handle.", + "Pick the brown can with the right arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Use the right arm to pick the smooth brown can with rounded edges, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Pick up the small light brown cylindrical can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the white patterned brown metal can, place it in the basket for holding items, and then lift the basket for holding items.", + "Take the smooth brown can with rounded edges and put it in the basket for holding items, then lift the basket for holding items.", + "Grab the white patterned brown metal can, place it in the brown basket, and then lift the brown basket.", + "Grab the hand-sized metallic can, set it into the brown basket, then raise the brown basket.", + "Use the right arm to grab the hand-sized metallic can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Grab the small cylindrical drink container using the right arm, drop the small cylindrical drink container into the basket made of woven wood and lift the basket made of woven wood.", + "Pick the metal can with white decorative designs, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Pick up the small cylindrical drink container using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to grab the smooth brown can with rounded edges, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the smooth light brown can in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Take the metal can with printed white graphics, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Use the right arm to hold the rounded metallic can, drop the rounded metallic can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the brown can with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Place the smooth light brown can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the hand-sized metallic can with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Drop the small cylindrical drink container into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Lift the hand-sized metallic can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Lift the smooth light brown can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Lift the brown can, place it in the woven basket, pick up the woven basket afterward.", + "Pick up the small cylindrical drink container, put it into the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm for the small light brown cylindrical can, place the small light brown cylindrical can in the basket for carrying things, and lift the basket for carrying things.", + "Use the same arm to grab the rounded metallic can, place in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the metal can with printed white graphics, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Grab and drop the smooth light brown can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Hold the metal can with printed white graphics using the right arm, place it in the brown basket, and lift the brown basket.", + "Use the right arm to grab the small light brown cylindrical can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the small cylindrical drink container using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Take the small light brown cylindrical can with the right arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the rounded metallic can, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the small cylindrical drink container, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.", + "Use the right arm to grab the small light brown cylindrical can, put it into the brown basket, and lift the brown basket with another arm.", + "Lift the smooth light brown can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Grab the rounded metallic can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Use the right arm to take the smooth light brown can, drop it in the basket for holding items, and lift the basket for holding items.", + "Lift the smooth light brown can with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab the small cylindrical drink container, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Place the hand-sized metallic can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Pick up the smooth brown can with rounded edges, put it in the light brown oval basket, and lift the light brown oval basket.", + "Place the smooth brown can with rounded edges in the woven basket and then lift the woven basket.", + "Grab the metal can with white decorative designs, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Pick the hand-sized metallic can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm." + ], + "unseen": [ + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..da63fd8cd490d6f2ae3a82d446708e5cd7329a76 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gold patterned beverage can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Lift the red can, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick up the metallic can with rounded edges with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Lift the compact metal drink can with the right arm, set it in the basket with black handle, and lift with another arm.", + "Use the same arm to grab the smooth red soda can, place in the yellow basket, and then lift the yellow basket.", + "Pick the red and gold cylindrical can with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick the bright red drink container can using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Hold the smooth red soda can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red and gold cylindrical can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick up the smooth red soda can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the red can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the basket with black handle, and lift the basket with black handle.", + "Take the gold-decorated aluminum can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the gold patterned beverage can, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Lift the compact metal drink can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the gold patterned beverage can using the right arm, drop the gold patterned beverage can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Grab the metallic can with rounded edges, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the palm-sized drink can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the palm-sized drink can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Grab the metallic can with rounded edges, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Place the red and gold cylindrical can inside the yellow basket, then lift the yellow basket.", + "Grab the bright red drink container can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm to grab the palm-sized drink can, place it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm for the smooth red soda can, place the smooth red soda can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the smooth red soda can and put it in the yellow basket, then lift the yellow basket.", + "Lift the bright red drink container can, place it in the handheld basket, pick up the handheld basket afterward.", + "Drop the red can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Pick up the metallic soda can, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red can with gold illustrations with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to take the red beverage can with curved top, drop it in the plastic basket, and lift the plastic basket.", + "Place the metallic soda can in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the red can and place in the plastic basket, lift the plastic basket with another arm.", + "Grab and drop the red beverage can with curved top in the basket with black handle, lift the basket with black handle.", + "Lift the smooth red soda can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick the gold patterned beverage can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Lift the metallic can with rounded edges, drop it into the yellow basket, then carry the yellow basket.", + "Pick the compact metal drink can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Take the bright red drink container can, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick up the red can with gold illustrations, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red can with gold illustrations, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Lift the compact metal drink can, place it in the basket with black handle, and raise the basket with black handle.", + "Place the red and gold cylindrical can in the basket with perforated sides and then lift the basket with perforated sides.", + "Pick the red and gold cylindrical can, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the palm-sized drink can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Take the red can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Grab the red and gold cylindrical can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Use the right arm to pick the bright red drink container can, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the gold patterned beverage can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the gold patterned beverage can, place it in the plastic basket, and then lift the plastic basket.", + "Grab the red and gold cylindrical can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Grab the red can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Lift the palm-sized drink can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick up the red and gold cylindrical can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the gold patterned beverage can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Use the same arm to grab the palm-sized drink can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the gold-decorated aluminum can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Pick the gold patterned beverage can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Hold the bright red drink container can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the bright red drink container can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick up the red can with gold illustrations, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick up the red beverage can with curved top using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the red and gold cylindrical can with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Lift the gold-decorated aluminum can, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the red beverage can with curved top using the right arm, drop the red beverage can with curved top into the handheld basket and lift the handheld basket.", + "Grab the smooth red soda can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the red and gold cylindrical can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the bright red drink container can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Grab the gold-decorated aluminum can, drop it into the handheld basket, and raise the handheld basket.", + "Place the red can with gold illustrations inside the handheld basket, then lift the handheld basket.", + "Grab the red beverage can with curved top with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the palm-sized drink can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the metallic can with rounded edges and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the gold-decorated aluminum can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Drop the red can with gold illustrations into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Pick up the red and gold cylindrical can, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the red can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to take the red can with gold illustrations, drop it in the basket with black handle, and lift the basket with black handle.", + "Place the red beverage can with curved top in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the metallic soda can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab and drop the red beverage can with curved top in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Lift the metallic soda can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the metallic can with rounded edges with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the smooth red soda can, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick the red can with gold illustrations, set it in the basket with black handle, and lift the basket with black handle upward.", + "Take the compact metal drink can, set it into the basket with black handle, and raise the basket with black handle.", + "Pick up the metallic soda can, put it into the handheld basket, and lift the handheld basket.", + "Grab the red beverage can with curved top, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Lift the red beverage can with curved top, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Place the compact metal drink can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Pick the red can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red beverage can with curved top, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Take the red can with gold illustrations in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Grab the palm-sized drink can, put it in the basket with black handle, then raise the basket with black handle.", + "Use the right arm to pick the smooth red soda can, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the bright red drink container can, place it into the yellow basket, then lift the yellow basket.", + "Pick up the red and gold cylindrical can, place it in the bright yellow basket, and then lift the bright yellow basket." + ], + "unseen": [ + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7f42b35a07272eabac3d9de1b8ba1e46063c2c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic red beverage can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the hand-sized red can for drinks, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Use the left arm to grab the Coca-Cola can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Place the red cylindrical can with silver top inside the woven basket, then lift the woven basket.", + "Lift the red can with white lettering, set it in the woven basket, and elevate the woven basket.", + "Grab the small aluminum red drink can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the red can with smooth metallic texture, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to grab the small aluminum red drink can and place in the brown basket, lift the brown basket with another arm.", + "Place the cylindrical red drink can with logo in the brown basket and then lift the brown basket.", + "Pick the rounded red Coca-Cola soda container, set it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the rounded red Coca-Cola soda container, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Use the same arm to grab the red cylindrical can with silver top, place in the basket for holding items, and then lift the basket for holding items.", + "Grab and drop the red can with white Coca-Cola logo in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Pick up the red can with smooth metallic texture using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Grab the small aluminum red drink can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the red cylindrical can with silver top, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the smooth red can with silver bottom, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the red can with smooth metallic texture, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Grab the smooth red can with silver bottom with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the smooth red can with silver bottom, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Pick the Coca-Cola soda can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Lift the cylindrical red drink can with logo with the left arm, set it in the basket with loop handle, and lift with another arm.", + "Use the left arm to pick the red can with white Coca-Cola logo, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Take the red can with white lettering, place it into the woven basket, then lift the woven basket.", + "Take the red cylindrical can with silver top with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Use the left arm to grab the cylindrical red drink can with logo, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the Coca-Cola can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Pick up the rounded red Coca-Cola soda container, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the cylindrical red drink can with logo with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the smooth red can with silver bottom, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Place the red cylindrical can with silver top in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Take the rounded red Coca-Cola soda container and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Hold the red can with white lettering using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to grab the small aluminum red drink can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Use the left arm to take the red can with white Coca-Cola logo, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the metallic red beverage can, place it in the brown basket, and raise the brown basket.", + "Pick up the small aluminum red drink can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Drop the smooth red can with silver bottom into the brown basket using the left arm, then lift the brown basket with another arm.", + "Pick the cylindrical red drink can with logo with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the hand-sized red can for drinks, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Use the left arm to hold the hand-sized red can for drinks, drop the hand-sized red can for drinks into the woven basket, and lift the woven basket.", + "Pick up the rounded red Coca-Cola soda container, put it in the basket made of woven wood, and lift the basket made of woven wood.", + "Take the rounded red Coca-Cola soda container in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Lift the Coca-Cola can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Grab the Coca-Cola can, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Grab the red can with white Coca-Cola logo, put it in the woven basket, then raise the woven basket.", + "Grab the cylindrical red drink can with logo using the left arm, drop the cylindrical red drink can with logo into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Lift the rounded red Coca-Cola soda container, put it in the woven basket, and carry the woven basket afterward.", + "Use the left arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the Coca-Cola can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Take the rounded red Coca-Cola soda container, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the small aluminum red drink can, place it in the woven basket, and raise the woven basket using the other arm.", + "Use the left arm to grab the hand-sized red can for drinks, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Place the Coca-Cola soda can inside the basket for holding items, then lift the basket for holding items.", + "Lift the small aluminum red drink can, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Grab the red can with white lettering, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the red cylindrical can with silver top, set it inside the basket for holding items, then lift the basket for holding items.", + "Use the left arm to grab the red can with white Coca-Cola logo and place in the basket for holding items, lift the basket for holding items with another arm.", + "Place the metallic red beverage can in the basket for holding items and then lift the basket for holding items.", + "Pick the small aluminum red drink can, set it in the woven basket, then lift the woven basket.", + "Grab the cylindrical red drink can with logo, set it into the brown basket, then raise the brown basket.", + "Use the same arm to grab the metallic red beverage can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Grab and drop the cylindrical red drink can with logo in the woven basket, lift the woven basket.", + "Pick up the red can with white lettering using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Grab the smooth red can with silver bottom, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick up the rounded red Coca-Cola soda container, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick up the Coca-Cola soda can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the red can with white Coca-Cola logo, set it in the brown basket, and lift the brown basket upward.", + "Grab the Coca-Cola can with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Grab the red cylindrical can with silver top, place it in the brown basket, and lift the brown basket upwards.", + "Pick the smooth red can with silver bottom using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the metallic red beverage can with the left arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Use the left arm to pick the red can with white lettering, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Take the smooth red can with silver bottom, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Take the Coca-Cola soda can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Use the left arm to grab the red can with smooth metallic texture, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the red can with smooth metallic texture, place it in the brown basket, pick up the brown basket afterward.", + "Pick up the metallic red beverage can, put it into the basket with handle, and lift the basket with handle.", + "Pick the rounded red Coca-Cola soda container with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the red can with white lettering, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Place the small aluminum red drink can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Take the cylindrical red drink can with logo and put it in the basket with loop handle, then lift the basket with loop handle.", + "Hold the cylindrical red drink can with logo using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the hand-sized red can for drinks, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Use the left arm to take the small aluminum red drink can, drop it in the basket for holding items, and lift the basket for holding items.", + "Lift the smooth red can with silver bottom, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the metallic red beverage can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Drop the metallic red beverage can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.", + "Pick the red can with white Coca-Cola logo with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the red can with white Coca-Cola logo, drop it into the woven basket, and raise the woven basket.", + "Use the left arm to hold the smooth red can with silver bottom, drop the smooth red can with silver bottom into the brown basket, and lift the brown basket.", + "Pick up the Coca-Cola soda can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the red can with white lettering in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Lift the cylindrical red drink can with logo, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Grab the small aluminum red drink can, drop it into the woven basket, then use another arm for the woven basket.", + "Grab the cylindrical red drink can with logo, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Grab the Coca-Cola soda can using the left arm, drop the Coca-Cola soda can into the basket for holding items and lift the basket for holding items.", + "Lift the Coca-Cola soda can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the left arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the light brown oval basket, and lift the light brown oval basket.", + "Pick the red can with smooth metallic texture with the left arm, drop it in the woven basket, lift the woven basket with another arm." + ], + "unseen": [ + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..223e666eb57eb56323aa6f4158e458c0400436f4 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the small aluminum red drink can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the small aluminum red drink can, place it in the basket for holding items, and raise the basket for holding items.", + "Take the hand-sized red can for drinks and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Take the Coca-Cola soda can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the rounded red Coca-Cola soda container, place it in the woven basket, pick up the woven basket afterward.", + "Use the right arm to grab the Coca-Cola can, place it in the basket for holding items, and lift the basket for holding items.", + "Grab the Coca-Cola soda can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Lift the red can with smooth metallic texture, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.", + "Grab and drop the metallic red beverage can in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Grab the Coca-Cola soda can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Take the Coca-Cola soda can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the red can with white Coca-Cola logo with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Grab the rounded red Coca-Cola soda container, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Lift the red can with white Coca-Cola logo with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Pick the red can with white lettering with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Use the right arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the light brown oval basket, and lift the light brown oval basket.", + "Grab the red can with white Coca-Cola logo, put it in the basket for carrying things, then raise the basket for carrying things.", + "Use the right arm to hold the small aluminum red drink can, drop the small aluminum red drink can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the Coca-Cola soda can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Take the small aluminum red drink can with the right arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the Coca-Cola can using the right arm, drop the Coca-Cola can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick the cylindrical red drink can with logo using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Place the rounded red Coca-Cola soda container in the basket for carrying things and then lift the basket for carrying things.", + "Pick up the hand-sized red can for drinks, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the red can with smooth metallic texture, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Use the right arm to grab the cylindrical red drink can with logo and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Use the right arm to grab the red cylindrical can with silver top, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Pick up the red can with white Coca-Cola logo, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the metallic red beverage can using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Lift the cylindrical red drink can with logo, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Grab the smooth red can with silver bottom, place it in the basket for holding items, and then lift the basket for holding items.", + "Place the metallic red beverage can in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Pick the rounded red Coca-Cola soda container, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Drop the metallic red beverage can into the brown basket using the right arm, then lift the brown basket with another arm.", + "Lift the Coca-Cola can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Use the right arm to grab the Coca-Cola soda can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Grab the Coca-Cola can, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the cylindrical red drink can with logo, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Lift the red can with smooth metallic texture, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Hold the Coca-Cola can using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the right arm to pick the cylindrical red drink can with logo, place it inside the woven basket, then lift the woven basket.", + "Use the same arm to grab the red can with white Coca-Cola logo, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the red can with smooth metallic texture, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Grab the cylindrical red drink can with logo with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick up the red can with white lettering, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the small aluminum red drink can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Take the small aluminum red drink can in the right arm, place it into the woven basket, another arm lifts the woven basket.", + "Pick up the smooth red can with silver bottom, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Place the metallic red beverage can inside the woven basket, then lift the woven basket.", + "Lift the rounded red Coca-Cola soda container, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Take the red can with smooth metallic texture and put it in the basket for holding items, then lift the basket for holding items.", + "Take the smooth red can with silver bottom, set it into the basket with handle, and raise the basket with handle.", + "Pick the Coca-Cola soda can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the red can with smooth metallic texture, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Use the right arm to grab the hand-sized red can for drinks, place it in the brown basket, and lift the brown basket.", + "Grab the red can with white lettering, set it into the basket for carrying things, then raise the basket for carrying things.", + "Lift the small aluminum red drink can, put it in the woven basket, and carry the woven basket afterward.", + "Grab and drop the small aluminum red drink can in the woven basket, lift the woven basket.", + "Grab the red can with white lettering, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Take the smooth red can with silver bottom, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick up the rounded red Coca-Cola soda container with the right arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Grab the red can with smooth metallic texture, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.", + "Lift the Coca-Cola soda can with the right arm, set it in the light brown oval basket, and lift with another arm.", + "Pick the smooth red can with silver bottom with the right arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Use the right arm for the hand-sized red can for drinks, place the hand-sized red can for drinks in the basket with handle, and lift the basket with handle.", + "Grab the Coca-Cola soda can, put it in the basket for holding items, then raise the basket for holding items.", + "Use the right arm to hold the metallic red beverage can, drop the metallic red beverage can into the light brown oval basket, and lift the light brown oval basket.", + "Pick the smooth red can with silver bottom, set it in the basket for carrying things, and lift the basket for carrying things upward.", + "Take the red can with smooth metallic texture with the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the cylindrical red drink can with logo using the right arm, drop the cylindrical red drink can with logo into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Place the small aluminum red drink can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Pick up the Coca-Cola can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the red can with smooth metallic texture, drop it into the basket with handle, and raise the basket with handle with the other arm.", + "Use the right arm to grab the rounded red Coca-Cola soda container and place in the basket for holding items, lift the basket for holding items with another arm.", + "Use the right arm to grab the red can with white lettering, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Pick up the rounded red Coca-Cola soda container, put it into the basket with handle, and lift the basket with handle.", + "Pick up the cylindrical red drink can with logo using the right arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Lift the smooth red can with silver bottom, drop it into the brown basket, then carry the brown basket.", + "Grab the red can with smooth metallic texture, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Place the red can with white Coca-Cola logo in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Pick the Coca-Cola can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Drop the red can with white Coca-Cola logo into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Lift the hand-sized red can for drinks, place it inside the basket with handle, and elevate the basket with handle.", + "Use the right arm to grab the smooth red can with silver bottom, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Grab the rounded red Coca-Cola soda container, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Use the right arm to take the red can with white lettering, drop it in the basket with handle, and lift the basket with handle.", + "Pick up the smooth red can with silver bottom, put it in the woven basket, and lift the woven basket.", + "Lift the rounded red Coca-Cola soda container, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Hold the red can with white lettering using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to pick the hand-sized red can for drinks, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the same arm to grab the rounded red Coca-Cola soda container, place in the brown basket, and then lift the brown basket.", + "Grab the red can with white lettering, drop it into the basket with handle, and raise the basket with handle.", + "Grab the red can with smooth metallic texture with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Pick up the red can with white lettering, set it inside the basket for holding items, then lift the basket for holding items.", + "Pick the Coca-Cola can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Take the small aluminum red drink can in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Pick up the hand-sized red can for drinks, place it in the basket made of woven wood, and then lift the basket made of woven wood." + ], + "unseen": [ + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the red can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..97d3dcca0f84212c375262a6164af48aa8f53827 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the can with red-orange text with the left arm, set it in the plastic basket, and lift with another arm.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the left arm to grab the can with red-orange text, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with red-orange text, drop it into the handheld basket, then use another arm for the handheld basket.", + "Pick up the medium metal can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the small white can with branding, place it into the plastic basket, then lift the plastic basket.", + "Pick the red-orange text on white can with the left arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick the can with sealed gold top with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the red-orange text on white can with the left arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the cylindrical white glossy can, set it in the handheld basket, and lift the handheld basket upward.", + "Use the left arm for the small white can with branding, place the small white can with branding in the bright yellow basket, and lift the bright yellow basket.", + "Grab the red-orange text on white can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Lift the can with red-orange text, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Lift the beverage can with printed label, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Lift the white can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Lift the beverage can with printed label, set it in the yellow basket, and elevate the yellow basket.", + "Take the can with gold top lid in the left arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Take the can with sealed gold top, set it into the plastic basket, and raise the plastic basket.", + "Grab the can with gold top lid, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Place the can with gold top lid in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Lift the smooth white can with accents, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Use the left arm to pick the small white can with branding, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the can with gold top lid, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Use the left arm to grab the can with sealed gold top, put it into the handheld basket, and lift the handheld basket with another arm.", + "Pick up the cylindrical white glossy can using the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the can with red-orange text with the left arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Place the smooth white can with accents in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the left arm to take the smooth white can with accents, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the cylindrical white glossy can and place in the yellow basket, lift the yellow basket with another arm.", + "Pick the can with sealed gold top, set it in the handheld basket, then lift the handheld basket.", + "Grab the red-orange text on white can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the red-orange text on white can, set it into the handheld basket, then raise the handheld basket.", + "Grab the can with rounded cylindrical shape, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the smooth white can with accents and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the can with red-orange text, put it in the plastic basket, and lift the plastic basket.", + "Pick the small white can with branding using the left arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the left arm to grab the red-orange text on white can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Place the cylindrical white glossy can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Hold the white can using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the handheld basket, and then lift the handheld basket.", + "Drop the cylindrical white glossy can into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Grab the white can using the left arm, drop the white can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Lift the can with sealed gold top, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab and drop the beverage can with printed label in the rectangular yellow basket, lift the rectangular yellow basket.", + "Pick up the white can with 3D RADY label, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Take the red-orange text on white can with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the cylindrical white glossy can, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label with the left arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick up the can with gold top lid, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the white can with 3D RADY label with the left arm, set it in the basket with black handle, and lift with another arm.", + "Use the left arm to hold the small white can with branding, drop the small white can with branding into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the left arm to grab the cylindrical white glossy can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the white can with 3D RADY label, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick up the small white can with branding, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the can with rounded cylindrical shape, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the red-orange text on white can with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick the can with gold top lid with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the can with red-orange text, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the can with red-orange text, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Lift the beverage can with printed label, put it in the yellow basket, and carry the yellow basket afterward.", + "Lift the white can with 3D RADY label, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Lift the can with rounded cylindrical shape, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Lift the white can with 3D RADY label, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Take the smooth white can with accents in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Take the red-orange text on white can, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the beverage can with printed label, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Place the can with rounded cylindrical shape in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Lift the can with rounded cylindrical shape, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the beverage can with printed label, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Use the left arm to grab the cylindrical white glossy can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Pick up the smooth white can with accents using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the small white can with branding with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Place the can with red-orange text in the bright yellow basket and then lift the bright yellow basket.", + "Use the left arm to take the white can with 3D RADY label, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Use the left arm to grab the small white can with branding and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick the white can with 3D RADY label, set it in the plastic basket, then lift the plastic basket.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket, and then lift the yellow basket.", + "Grab the smooth white can with accents, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the red-orange text on white can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the red-orange text on white can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the cylindrical white glossy can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the can with sealed gold top using the left arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Use the left arm to grab the medium metal can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Place the can with gold top lid inside the basket with arched black grip, then lift the basket with arched black grip.", + "Hold the white can with 3D RADY label using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the small white can with branding, place in the basket with black handle, and then lift the basket with black handle.", + "Drop the cylindrical white glossy can into the rectangular basket with smooth surface using the left arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Lift the can with red-orange text, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab and drop the medium metal can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the can with red-orange text, place it in the plastic basket, and then lift the plastic basket.", + "Take the small white can with branding with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the can with gold top lid, put it in the basket with black handle, then raise the basket with black handle.", + "Pick up the can with red-orange text with the left arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Pick up the white can with 3D RADY label, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..f4013fe768b5f08ebc42dd51bdb9d22f3c42de64 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the can with red-orange text, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Place the small white can with branding inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the white can with 3D RADY label using the right arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Take the can with sealed gold top, set it into the woven basket, and raise the woven basket.", + "Take the white can in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Place the can with sealed gold top in the woven basket and then lift the woven basket.", + "Pick the smooth white can with accents, set it in the brown basket, and lift the brown basket upward.", + "Use the right arm for the can with red-orange text, place the can with red-orange text in the basket for carrying things, and lift the basket for carrying things.", + "Grab the can with rounded cylindrical shape, place it in the brown basket, and raise the brown basket using the other arm.", + "Use the right arm to grab the can with rounded cylindrical shape, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Place the white can with 3D RADY label in the basket with handle and then use another arm to lift the basket with handle.", + "Pick up the can with rounded cylindrical shape, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the small white can with branding, put it into the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Grab and drop the small white can with branding in the basket for holding items, lift the basket for holding items.", + "Pick the red-orange text on white can with the right arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Take the white can with 3D RADY label and put it in the woven basket, then lift the woven basket.", + "Lift the white can, place it inside the basket for holding items, and elevate the basket for holding items.", + "Take the red-orange text on white can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Hold the smooth white can with accents using the right arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the medium metal can, put it in the brown basket, then raise the brown basket.", + "Pick the smooth white can with accents with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Pick the white can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Drop the smooth white can with accents into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Pick up the red-orange text on white can with the right arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.", + "Grab the white can with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Grab the can with sealed gold top, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Use the right arm to take the red-orange text on white can, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to hold the smooth white can with accents, drop the smooth white can with accents into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the same arm to grab the white can with 3D RADY label, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick the can with gold top lid using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the beverage can with printed label, place it in the woven basket, and then lift the woven basket.", + "Grab the cylindrical white glossy can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick up the red-orange text on white can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the right arm to grab the cylindrical white glossy can and place in the woven basket, lift the woven basket with another arm.", + "Use the right arm to pick the white can with 3D RADY label, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the can with sealed gold top, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Pick up the red-orange text on white can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the small white can with branding, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Lift the can with rounded cylindrical shape, place it in the woven basket, and raise the woven basket.", + "Grab the can with sealed gold top, place it in the basket for holding items, and then lift the basket for holding items.", + "Lift the can with rounded cylindrical shape, drop it into the basket for holding items, then carry the basket for holding items.", + "Take the medium metal can with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the smooth white can with accents with the right arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Pick the can with red-orange text with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Grab the can with red-orange text using the right arm, drop the can with red-orange text into the basket with loop handle and lift the basket with loop handle.", + "Grab the can with sealed gold top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab the can with gold top lid, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Use the right arm to grab the medium metal can, put it into the woven basket, and lift the woven basket with another arm.", + "Lift the beverage can with printed label, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Place the can with gold top lid inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the small white can with branding using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the red-orange text on white can, set it into the brown basket, and raise the brown basket.", + "Take the white can in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Place the medium metal can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Pick the smooth white can with accents, set it in the basket with handle, and lift the basket with handle upward.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Grab the small white can with branding, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Use the right arm to grab the can with sealed gold top, place it into the woven basket, and lift the woven basket using the other arm.", + "Place the smooth white can with accents in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Pick up the white can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the beverage can with printed label, put it into the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab and drop the small white can with branding in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Pick the can with red-orange text with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Take the beverage can with printed label and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the can with gold top lid, place it inside the basket for holding items, and elevate the basket for holding items.", + "Take the beverage can with printed label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Hold the beverage can with printed label using the right arm, place it in the brown basket, and lift the brown basket.", + "Grab the can with rounded cylindrical shape, put it in the basket with loop handle, then raise the basket with loop handle.", + "Pick the can with red-orange text with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the red-orange text on white can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Drop the white can with 3D RADY label into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick up the can with rounded cylindrical shape with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Grab the medium metal can with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the medium metal can, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Use the right arm to take the medium metal can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with handle, and lift the basket with handle.", + "Use the same arm to grab the smooth white can with accents, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick the can with red-orange text using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the white can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the can with rounded cylindrical shape, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.", + "Pick up the white can with 3D RADY label, put it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to grab the smooth white can with accents and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the right arm to pick the red-orange text on white can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the can with sealed gold top, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Pick up the red-orange text on white can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Grab the red-orange text on white can, place it in the woven basket, and lift the woven basket upwards.", + "Lift the smooth white can with accents, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the can with rounded cylindrical shape, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Lift the cylindrical white glossy can, drop it into the basket for holding items, then carry the basket for holding items.", + "Take the can with rounded cylindrical shape with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the white can with the right arm, set it in the brown basket, and lift with another arm.", + "Lift the white can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Pick the can with red-orange text with the right arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab the white can using the right arm, drop the white can into the basket for holding items and lift the basket for holding items.", + "Grab the can with gold top lid, set it into the basket for carrying things, then raise the basket for carrying things.", + "Grab the can with rounded cylindrical shape, drop it into the woven basket, and raise the woven basket.", + "Use the right arm to grab the white can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..72d6cc1b22b502fd28c18e69f6e36386ac031382 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the brown can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Grab the rounded metallic can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Use the right arm to grab the light brown can with smooth texture and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the smooth brown can with rounded edges, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Lift the brown can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick up the white patterned brown metal can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab and drop the rounded metallic can in the basket with perforated sides, lift the basket with perforated sides.", + "Hold the metal can with white decorative designs using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the metal can with printed white graphics, place in the basket with black handle, and then lift the basket with black handle.", + "Pick the metal can with white decorative designs, set it in the handheld basket, and lift the handheld basket upward.", + "Grab the hand-sized metallic can, drop it into the plastic basket, and raise the plastic basket.", + "Pick up the drink can with light brown shade, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the small light brown cylindrical can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the white patterned brown metal can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick up the small cylindrical drink container using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the drink can with light brown shade, set it into the plastic basket, then raise the plastic basket.", + "Use the right arm to take the smooth brown can with rounded edges, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to hold the smooth brown can with rounded edges, drop the smooth brown can with rounded edges into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the metal can with printed white graphics and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white patterned brown metal can, place it inside the yellow basket, and elevate the yellow basket.", + "Pick the smooth light brown can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the brown can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Pick up the hand-sized metallic can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Drop the metal can with white decorative designs into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Lift the metal can with white decorative designs, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Use the right arm to grab the drink can with light brown shade, place it in the bright yellow basket, and lift the bright yellow basket.", + "Take the rounded metallic can in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Take the rounded metallic can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Place the light brown can with smooth texture in the handheld basket and then use another arm to lift the handheld basket.", + "Pick the smooth brown can with rounded edges, set it in the bright yellow basket, then lift the bright yellow basket.", + "Place the hand-sized metallic can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the small cylindrical drink container with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the white patterned brown metal can, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the metal can with printed white graphics, place it in the basket with black handle, and then lift the basket with black handle.", + "Place the brown can in the basket with black handle and then lift the basket with black handle.", + "Lift the metal can with printed white graphics, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the metal can with white decorative designs, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick the brown can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the small light brown cylindrical can with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the smooth light brown can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm to grab the rounded metallic can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Grab the light brown can with smooth texture, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the metal can with white decorative designs, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the brown can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Use the right arm to grab the white patterned brown metal can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Use the right arm to pick the metal can with white decorative designs, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the metal can with printed white graphics using the right arm, drop the metal can with printed white graphics into the basket with perforated sides and lift the basket with perforated sides.", + "Take the small light brown cylindrical can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the metal can with white decorative designs with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm for the metal can with printed white graphics, place the metal can with printed white graphics in the basket with black handle, and lift the basket with black handle.", + "Lift the small cylindrical drink container with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the smooth light brown can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Use the right arm to grab the light brown can with smooth texture and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the hand-sized metallic can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Lift the hand-sized metallic can, set it in the yellow basket, and elevate the yellow basket.", + "Pick up the smooth brown can with rounded edges, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab and drop the white patterned brown metal can in the plastic basket, lift the plastic basket.", + "Hold the small light brown cylindrical can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the same arm to grab the light brown can with smooth texture, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick the hand-sized metallic can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the smooth light brown can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick up the metal can with printed white graphics, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the white patterned brown metal can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the hand-sized metallic can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the drink can with light brown shade, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to take the small cylindrical drink container, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to hold the hand-sized metallic can, drop the hand-sized metallic can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the smooth light brown can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the metal can with printed white graphics, place it inside the handheld basket, and elevate the handheld basket.", + "Pick the smooth light brown can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the drink can with light brown shade with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Pick up the metal can with white decorative designs, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Drop the light brown can with smooth texture into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Lift the smooth brown can with rounded edges, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Use the right arm to grab the smooth brown can with rounded edges, place it in the yellow basket, and lift the yellow basket.", + "Take the rounded metallic can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Take the metal can with white decorative designs, place it into the handheld basket, then lift the handheld basket.", + "Place the hand-sized metallic can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick the smooth brown can with rounded edges, set it in the handheld basket, then lift the handheld basket.", + "Place the small cylindrical drink container inside the basket with black handle, then lift the basket with black handle.", + "Pick the brown can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the small cylindrical drink container, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the smooth brown can with rounded edges, place it in the yellow basket, and then lift the yellow basket.", + "Place the small light brown cylindrical can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Lift the white patterned brown metal can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Grab the brown can, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick the metal can with printed white graphics using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the brown can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the smooth light brown can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to grab the drink can with light brown shade, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Grab the smooth brown can with rounded edges, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick up the hand-sized metallic can, put it into the plastic basket, and lift the plastic basket.", + "Grab the smooth light brown can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Use the right arm to grab the smooth light brown can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to pick the brown can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the rounded metallic can using the right arm, drop the rounded metallic can into the basket with perforated sides and lift the basket with perforated sides.", + "Take the smooth brown can with rounded edges, set it into the plastic basket, and raise the plastic basket.", + "Pick the light brown can with smooth texture with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm for the white patterned brown metal can, place the white patterned brown metal can in the basket with arched black grip, and lift the basket with arched black grip." + ], + "unseen": [ + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..591fb75e28d2f5b0bf103ca3cacd85ed103dd14d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the cylindrical can with flat surfaces in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Use the right arm to take the red can with decorative label, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the red and white beverage can, drop it into the handheld basket, then carry the handheld basket.", + "Lift the red and white beverage can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the red can with decorative label, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Place the can with flat silver bottom inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the drink can with smooth red finish, set it in the bright yellow basket, then lift the bright yellow basket.", + "Hold the red and white beverage can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the metal can with red base with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the metal can with red base with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the red can with decorative label with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Pick up the drink can with smooth red finish, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the cylindrical can with flat surfaces, place it in the yellow basket, and raise the yellow basket.", + "Grab the metal can with red base, place it in the plastic basket, and then lift the plastic basket.", + "Pick the red drink can with white lid with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the red shiny can with green label using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to grab the smooth red can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the smooth red can, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the metal can with red base, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick up the red can with decorative label with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Grab and drop the cylindrical metal can in the plastic basket, lift the plastic basket.", + "Take the metal can with red base, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the red shiny can with green label, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to grab the red and white beverage can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the red can with decorative label, put it in the plastic basket, and lift the plastic basket.", + "Place the cylindrical metal can in the basket with black handle and then lift the basket with black handle.", + "Take the can with flat silver bottom, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the drink can with smooth red finish, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the metal can with red base, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Grab the metal can with red base, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick up the red soda can with green accents, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to pick the smooth red can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the drink can with smooth red finish, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the right arm to grab the drink can with smooth red finish, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Take the red and white beverage can and put it in the yellow basket, then lift the yellow basket.", + "Grab the cylindrical metal can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Lift the red soda can with green accents with the right arm, set it in the plastic basket, and lift with another arm.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab the drink can with smooth red finish, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Use the same arm to grab the cylindrical metal can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the cylindrical metal can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the red and white beverage can, drop the red and white beverage can into the handheld basket, and lift the handheld basket.", + "Use the right arm for the red and white beverage can, place the red and white beverage can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the red can with decorative label in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab the red and white beverage can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick up the cylindrical metal can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the cylindrical can with flat surfaces, place it in the yellow basket, and then lift the yellow basket.", + "Grab the drink can with smooth red finish with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the can with flat silver bottom, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Drop the cylindrical metal can into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Take the metal can with red base in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Use the right arm to take the medium-sized soda can, drop it in the plastic basket, and lift the plastic basket.", + "Lift the red can with decorative label, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Lift the red shiny can with green label, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the red soda can with green accents, set it in the basket with black handle, and elevate the basket with black handle.", + "Place the can with flat silver bottom inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the smooth red can, set it in the basket with black handle, then lift the basket with black handle.", + "Hold the drink can with smooth red finish using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick the red can with decorative label with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the red can with decorative label with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the red drink can with white lid with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the drink can with smooth red finish, set it inside the plastic basket, then lift the plastic basket.", + "Lift the medium-sized soda can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the cylindrical can with flat surfaces, place it in the yellow basket, and then lift the yellow basket.", + "Pick the red and white beverage can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the drink can with smooth red finish using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the cylindrical can with flat surfaces and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the can with flat silver bottom, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the red can with decorative label, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick up the smooth red can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab and drop the red can with decorative label in the yellow basket, lift the yellow basket.", + "Take the red drink can with white lid, place it into the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the red and white beverage can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Use the right arm to grab the can with flat silver bottom, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Pick up the red can with decorative label, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the medium-sized soda can in the basket with perforated sides and then lift the basket with perforated sides.", + "Take the red drink can with white lid, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Lift the can with flat silver bottom, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick the metal can with red base, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Grab the can with flat silver bottom, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the red and white beverage can, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to pick the smooth red can, place it inside the plastic basket, then lift the plastic basket.", + "Grab the can with flat silver bottom, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the right arm to grab the red can with decorative label, place it in the plastic basket, and lift the plastic basket.", + "Take the medium-sized soda can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the drink can with smooth red finish, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Lift the cylindrical can with flat surfaces with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the red shiny can with green label using the right arm, drop the red shiny can with green label into the yellow basket and lift the yellow basket.", + "Grab the drink can with smooth red finish, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the same arm to grab the red can with decorative label, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the medium-sized soda can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the basket with black handle, and lift the basket with black handle.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the plastic basket, and lift the plastic basket.", + "Place the cylindrical can with flat surfaces in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the red drink can with white lid, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick up the drink can with smooth red finish, place it in the plastic basket, and then lift the plastic basket.", + "Grab the smooth red can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the cylindrical can with flat surfaces, put it in the handheld basket, then raise the handheld basket.", + "Drop the red shiny can with green label into the handheld basket using the right arm, then lift the handheld basket with another arm." + ], + "unseen": [ + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..0545d8d7230af11ae63726d120e5624a8742ed43 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the metal can with printed white graphics using the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the smooth light brown can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the rounded metallic can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Place the metal can with white decorative designs inside the light brown oval basket, then lift the light brown oval basket.", + "Grab the brown can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Lift the smooth brown can with rounded edges, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Lift the smooth brown can with rounded edges, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.", + "Take the metal can with printed white graphics with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Grab the hand-sized metallic can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Take the metal can with printed white graphics, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the drink can with light brown shade using the right arm, drop the drink can with light brown shade into the basket with loop handle and lift the basket with loop handle.", + "Take the metal can with white decorative designs in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Grab the metal can with printed white graphics, place it in the brown basket, and then lift the brown basket.", + "Lift the metal can with white decorative designs, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Grab the drink can with light brown shade, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Lift the metal can with printed white graphics, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Place the drink can with light brown shade in the basket with loop handle and then lift the basket with loop handle.", + "Pick up the smooth brown can with rounded edges, place it in the basket with handle, and then lift the basket with handle.", + "Pick the light brown can with smooth texture, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to take the light brown can with smooth texture, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the hand-sized metallic can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Grab the white patterned brown metal can, place it in the woven basket, and lift the woven basket upwards.", + "Lift the brown can, drop it into the light brown oval basket, then carry the light brown oval basket.", + "Use the right arm to hold the brown can, drop the brown can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Hold the metal can with printed white graphics using the right arm, place it in the woven basket, and lift the woven basket.", + "Take the rounded metallic can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the small light brown cylindrical can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to grab the metal can with printed white graphics, place it into the woven basket, and lift the woven basket using the other arm.", + "Grab and drop the hand-sized metallic can in the basket with handle, lift the basket with handle.", + "Grab the hand-sized metallic can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Lift the small cylindrical drink container with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Grab the white patterned brown metal can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick up the white patterned brown metal can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the smooth brown can with rounded edges using the right arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Pick the hand-sized metallic can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the right arm to grab the metal can with white decorative designs, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the smooth brown can with rounded edges with the right arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Use the right arm to grab the metal can with white decorative designs and place in the basket for holding items, lift the basket for holding items with another arm.", + "Pick the smooth brown can with rounded edges with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab the light brown can with smooth texture with the right arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick up the metal can with white decorative designs, put it into the brown basket, and lift the brown basket.", + "Pick the metal can with printed white graphics with the right arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Use the right arm for the small cylindrical drink container, place the small cylindrical drink container in the basket with handle, and lift the basket with handle.", + "Use the same arm to grab the drink can with light brown shade, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Use the right arm to grab the white patterned brown metal can, put it into the brown basket, and lift the brown basket with another arm.", + "Drop the drink can with light brown shade into the basket for carrying things using the right arm, then lift the basket for carrying things with another arm.", + "Pick up the drink can with light brown shade, put it in the basket with handle, and lift the basket with handle.", + "Place the light brown can with smooth texture in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Use the right arm to pick the drink can with light brown shade, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the smooth light brown can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick up the small light brown cylindrical can using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Take the light brown can with smooth texture, place it into the brown basket, then lift the brown basket.", + "Lift the smooth light brown can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Place the drink can with light brown shade inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the hand-sized metallic can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Lift the small cylindrical drink container, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Lift the light brown can with smooth texture, place it in the woven basket, pick up the woven basket afterward.", + "Take the small cylindrical drink container with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the rounded metallic can, put it in the woven basket, then raise the woven basket.", + "Take the metal can with printed white graphics, set it into the basket for holding items, and raise the basket for holding items.", + "Grab the metal can with white decorative designs using the right arm, drop the metal can with white decorative designs into the basket with loop handle and lift the basket with loop handle.", + "Take the hand-sized metallic can in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Grab the metal can with printed white graphics, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the smooth brown can with rounded edges, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Grab the small light brown cylindrical can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Lift the smooth light brown can, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Place the small cylindrical drink container in the basket made of woven wood and then lift the basket made of woven wood.", + "Pick up the light brown can with smooth texture, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Pick the smooth brown can with rounded edges, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to take the brown can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the rounded metallic can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Grab the small cylindrical drink container, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Lift the smooth brown can with rounded edges, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Use the right arm to hold the brown can, drop the brown can into the light brown oval basket, and lift the light brown oval basket.", + "Hold the rounded metallic can using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the white patterned brown metal can and put it in the basket for carrying things, then lift the basket for carrying things.", + "Pick up the light brown can with smooth texture, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to grab the white patterned brown metal can, place it into the brown basket, and lift the brown basket using the other arm.", + "Grab and drop the hand-sized metallic can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Grab the small light brown cylindrical can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Lift the small light brown cylindrical can with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Grab the metal can with white decorative designs, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Pick up the light brown can with smooth texture, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick the rounded metallic can using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Pick the brown can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Use the right arm to grab the small light brown cylindrical can, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the smooth light brown can with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Use the right arm to grab the rounded metallic can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick the white patterned brown metal can with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Grab the smooth brown can with rounded edges with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the small light brown cylindrical can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the rounded metallic can with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Use the right arm for the small cylindrical drink container, place the small cylindrical drink container in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the same arm to grab the drink can with light brown shade, place in the brown basket, and then lift the brown basket.", + "Use the right arm to grab the smooth light brown can, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Drop the small cylindrical drink container into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick up the drink can with light brown shade, put it in the basket with handle, and lift the basket with handle.", + "Place the smooth light brown can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Use the right arm to pick the light brown can with smooth texture, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the smooth light brown can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the light brown cylindrical can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the light brown cylindrical can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..a728e6f7244e1e6e54e229135035809a2691c5d8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the beverage can with red green graphics, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the green red metallic soda can with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to hold the beverage can with red green graphics, drop the beverage can with red green graphics into the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm for the metal can with pull-tab top, place the metal can with pull-tab top in the basket with arched black grip, and lift the basket with arched black grip.", + "Place the beverage can with red green graphics in the yellow basket and then use another arm to lift the yellow basket.", + "Use the right arm to grab the drink can with bright colors, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick up the soda can with lime illustration, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the green red metallic soda can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the red green beverage can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Use the same arm to grab the colorful can with lime and orange design, place in the basket with black handle, and then lift the basket with black handle.", + "Take the metal can with pull-tab top, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the metallic drink can with pull-tab, put it in the yellow basket, then raise the yellow basket.", + "Place the drink can with bright colors inside the basket with black handle, then lift the basket with black handle.", + "Lift the red green beverage can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the colorful can with lime and orange design, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Drop the drink can with bright colors into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Pick the drink can with bright colors using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the red green can, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the metallic drink can with pull-tab, place it in the yellow basket, and then lift the yellow basket.", + "Grab and drop the small soda can with lime graphics in the plastic basket, lift the plastic basket.", + "Use the right arm to grab the metallic drink can with pull-tab, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Take the small soda can with lime graphics with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick the metallic drink can with pull-tab, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the soda can with lime illustration, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to take the red green beverage can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the colorful can with lime and orange design using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the metallic drink can with pull-tab, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the metal can with pull-tab top, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Take the can with red green label and put it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the red green can, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the green red metallic soda can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Take the colorful can with lime and orange design, place it into the handheld basket, then lift the handheld basket.", + "Grab the colorful can with lime and orange design, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the drink can with bright colors, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the soda can with lime illustration, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Lift the green red metallic soda can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Lift the small soda can with lime graphics, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the soda can with lime illustration with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick the colorful can with lime and orange design with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Place the small soda can with lime graphics in the plastic basket and then lift the plastic basket.", + "Pick the metallic drink can with pull-tab, set it in the basket with black handle, then lift the basket with black handle.", + "Hold the metal can with pull-tab top using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Lift the smooth cylindrical can with lime pattern, set it in the plastic basket, and elevate the plastic basket.", + "Pick the red green can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to grab the drink can with bright colors and place in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the metallic drink can with pull-tab, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Pick up the drink can with bright colors, put it in the yellow basket, and lift the yellow basket.", + "Lift the drink can with bright colors, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the metal can with pull-tab top with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Use the right arm to hold the red green can, drop the red green can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm for the small soda can with lime graphics, place the small soda can with lime graphics in the bright yellow basket, and lift the bright yellow basket.", + "Place the soda can with lime illustration in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the right arm to grab the beverage can with red green graphics, put it into the plastic basket, and lift the plastic basket with another arm.", + "Pick up the red green can, set it inside the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the metal can with pull-tab top, place it in the handheld basket, and lift the handheld basket.", + "Take the colorful can with lime and orange design in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Use the same arm to grab the green red metallic soda can, place in the handheld basket, and then lift the handheld basket.", + "Take the drink can with bright colors, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the drink can with bright colors, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Place the smooth cylindrical can with lime pattern inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the colorful can with lime and orange design, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Pick up the can with red green label, put it into the yellow basket, and lift the yellow basket.", + "Drop the can with red green label into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Pick the colorful can with lime and orange design using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the smooth cylindrical can with lime pattern, set it into the handheld basket, then raise the handheld basket.", + "Pick up the can with red green label, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab and drop the beverage can with red green graphics in the handheld basket, lift the handheld basket.", + "Use the right arm to grab the drink can with bright colors, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Take the small soda can with lime graphics with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the beverage can with red green graphics, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Pick up the can with red green label, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to take the soda can with lime illustration, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the red green can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Grab the soda can with lime illustration using the right arm, drop the soda can with lime illustration into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick the drink can with bright colors with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the small soda can with lime graphics, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Take the smooth cylindrical can with lime pattern and put it in the yellow basket, then lift the yellow basket.", + "Grab the colorful can with lime and orange design, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the small soda can with lime graphics with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Take the soda can with lime illustration, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red green can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the right arm to pick the can with red green label, place it inside the yellow basket, then lift the yellow basket.", + "Grab the drink can with bright colors, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the green red metallic soda can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Lift the small soda can with lime graphics, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the soda can with lime illustration with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the metal can with pull-tab top with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Place the smooth cylindrical can with lime pattern in the yellow basket and then lift the yellow basket.", + "Pick the soda can with lime illustration, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Hold the beverage can with red green graphics using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the green red metallic soda can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Pick the green red metallic soda can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Use the right arm to grab the colorful can with lime and orange design and place in the yellow basket, lift the yellow basket with another arm.", + "Grab the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Pick up the metallic drink can with pull-tab, put it in the basket with perforated sides, and lift the basket with perforated sides." + ], + "unseen": [ + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9f0c90e28cac0c111f0a3d602a5a0916b33b4d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small white can with branding, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Place the white can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Lift the medium metal can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Take the white can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Lift the can with rounded cylindrical shape, place it inside the plastic basket, and elevate the plastic basket.", + "Grab the beverage can with printed label, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab the beverage can with printed label, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Take the medium metal can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the can with red-orange text using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the can with rounded cylindrical shape, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the cylindrical white glossy can using the right arm, drop the cylindrical white glossy can into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Take the smooth white can with accents, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Lift the red-orange text on white can, drop it into the yellow basket, then carry the yellow basket.", + "Hold the can with rounded cylindrical shape using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with gold top lid, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick the red-orange text on white can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the can with gold top lid, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the cylindrical white glossy can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Place the beverage can with printed label inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab and drop the white can with 3D RADY label in the basket with perforated sides, lift the basket with perforated sides.", + "Pick up the beverage can with printed label, place it in the plastic basket, and then lift the plastic basket.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the medium metal can, place it in the handheld basket, and then lift the handheld basket.", + "Pick the beverage can with printed label with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Pick the can with sealed gold top with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Pick up the can with sealed gold top, put it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the white can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the right arm to hold the white can, drop the white can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the same arm to grab the beverage can with printed label, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the can with sealed gold top in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the right arm to grab the white can with 3D RADY label, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Grab the smooth white can with accents, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick the white can with 3D RADY label using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the cylindrical white glossy can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the white can with 3D RADY label with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm for the can with gold top lid, place the can with gold top lid in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the small white can with branding, set it in the basket with black handle, and elevate the basket with black handle.", + "Drop the beverage can with printed label into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Take the cylindrical white glossy can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the smooth white can with accents, place it into the yellow basket, then lift the yellow basket.", + "Grab the medium metal can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Lift the can with rounded cylindrical shape, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Lift the can with sealed gold top, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Grab the red-orange text on white can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the right arm to take the can with rounded cylindrical shape, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the smooth white can with accents, put it into the handheld basket, and lift the handheld basket with another arm.", + "Pick the small white can with branding, set it in the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the can with red-orange text and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the white can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the can with sealed gold top, place it in the handheld basket, and raise the handheld basket.", + "Place the red-orange text on white can in the plastic basket and then use another arm to lift the plastic basket.", + "Lift the smooth white can with accents with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Take the medium metal can in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Lift the beverage can with printed label, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Grab the cylindrical white glossy can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Grab the cylindrical white glossy can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Take the white can with 3D RADY label, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the can with sealed gold top using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the can with rounded cylindrical shape, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Grab the medium metal can using the right arm, drop the medium metal can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Take the can with gold top lid, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Lift the can with gold top lid, drop it into the plastic basket, then carry the plastic basket.", + "Hold the cylindrical white glossy can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with red-orange text, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the white can with 3D RADY label with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the can with sealed gold top, set it inside the handheld basket, then lift the handheld basket.", + "Pick up the can with rounded cylindrical shape, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the white can with 3D RADY label inside the yellow basket, then lift the yellow basket.", + "Grab and drop the medium metal can in the bright yellow basket, lift the bright yellow basket.", + "Pick up the smooth white can with accents, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to pick the can with red-orange text, place it inside the plastic basket, then lift the plastic basket.", + "Grab the small white can with branding, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the beverage can with printed label with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the smooth white can with accents with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick up the beverage can with printed label, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the small white can with branding with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Use the right arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the same arm to grab the can with sealed gold top, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the can with sealed gold top in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the beverage can with printed label, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Grab the medium metal can, put it in the plastic basket, then raise the plastic basket.", + "Pick the can with sealed gold top using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab the small white can with branding, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Grab the medium metal can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm for the beverage can with printed label, place the beverage can with printed label in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the can with gold top lid, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Drop the small white can with branding into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Take the can with rounded cylindrical shape with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick up the medium metal can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the medium metal can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Lift the can with sealed gold top, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Lift the can with red-orange text, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Grab the medium metal can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Use the right arm to take the white can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the can with rounded cylindrical shape, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Pick the red-orange text on white can, set it in the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the medium metal can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the medium metal can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle." + ], + "unseen": [ + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..8b8ccea8b87834afa047fff72ac2895b83d43cfd --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Lift the red-orange text on white can with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Pick the white can with 3D RADY label with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the medium metal can using the left arm, drop the medium metal can into the basket for holding items and lift the basket for holding items.", + "Pick the can with rounded cylindrical shape using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Take the white can with 3D RADY label, set it into the light brown oval basket, and raise the light brown oval basket.", + "Take the can with rounded cylindrical shape in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Use the left arm to grab the red-orange text on white can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Lift the small white can with branding, drop it into the brown basket, then carry the brown basket.", + "Pick up the beverage can with printed label, put it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the smooth white can with accents, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Place the can with sealed gold top inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the medium metal can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the same arm to grab the red-orange text on white can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the red-orange text on white can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Lift the smooth white can with accents, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the small white can with branding, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Take the white can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Grab the white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Lift the white can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Drop the can with rounded cylindrical shape into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Pick the red-orange text on white can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Use the left arm for the can with gold top lid, place the can with gold top lid in the woven basket, and lift the woven basket.", + "Use the left arm to grab the can with red-orange text, place it into the brown basket, and lift the brown basket using the other arm.", + "Lift the can with sealed gold top, place it in the brown basket, and raise the brown basket.", + "Pick up the can with red-orange text with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.", + "Grab and drop the smooth white can with accents in the light brown oval basket, lift the light brown oval basket.", + "Grab the beverage can with printed label, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the can with red-orange text, place it in the basket with handle, and then lift the basket with handle.", + "Grab the white can, place it in the woven basket, and raise the woven basket using the other arm.", + "Pick the medium metal can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to hold the white can, drop the white can into the basket with handle, and lift the basket with handle.", + "Pick up the can with sealed gold top, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the can with rounded cylindrical shape in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Pick up the cylindrical white glossy can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Take the white can with 3D RADY label, place it into the basket for carrying things, then lift the basket for carrying things.", + "Place the white can in the basket with handle and then lift the basket with handle.", + "Grab the can with gold top lid, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Grab the beverage can with printed label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Take the can with red-orange text and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to pick the can with sealed gold top, place it inside the basket for holding items, then lift the basket for holding items.", + "Hold the can with sealed gold top using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the can with rounded cylindrical shape with the left arm, set it in the brown basket, and lift the brown basket using another arm.", + "Grab the white can with 3D RADY label, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Pick up the can with sealed gold top, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the small white can with branding, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to take the can with gold top lid, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the cylindrical white glossy can, set it in the brown basket, and lift the brown basket upward.", + "Use the left arm to grab the small white can with branding and place in the basket with handle, lift the basket with handle with another arm.", + "Grab the beverage can with printed label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the white can, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Lift the white can with 3D RADY label with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Pick the cylindrical white glossy can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the brown basket with woven ridges and lift the brown basket with woven ridges.", + "Pick the beverage can with printed label using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the can with sealed gold top, set it into the woven basket, and raise the woven basket.", + "Take the cylindrical white glossy can in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Use the left arm to grab the can with rounded cylindrical shape, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Lift the red-orange text on white can, drop it into the basket for holding items, then carry the basket for holding items.", + "Pick up the smooth white can with accents, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the can with gold top lid, set it into the basket for holding items, then raise the basket for holding items.", + "Place the white can with 3D RADY label inside the woven basket, then lift the woven basket.", + "Pick up the can with rounded cylindrical shape using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Use the same arm to grab the can with gold top lid, place in the woven basket, and then lift the woven basket.", + "Grab the can with rounded cylindrical shape, place it in the woven basket, and then lift the woven basket.", + "Lift the white can with 3D RADY label, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the beverage can with printed label, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Take the red-orange text on white can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the can with red-orange text, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Lift the smooth white can with accents, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Drop the white can with 3D RADY label into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Pick the small white can with branding with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Lift the can with rounded cylindrical shape, place it in the basket for holding items, and raise the basket for holding items.", + "Pick up the smooth white can with accents with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Grab and drop the small white can with branding in the basket with handle, lift the basket with handle.", + "Grab the can with red-orange text, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick up the smooth white can with accents, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab the can with red-orange text, place it in the brown basket, and raise the brown basket using the other arm.", + "Pick the small white can with branding, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the brown basket, and lift the brown basket.", + "Pick up the can with gold top lid, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Place the white can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Pick up the smooth white can with accents, place it into the basket for carrying things, then lift the basket for carrying things.", + "Take the beverage can with printed label, place it into the basket with loop handle, then lift the basket with loop handle.", + "Place the can with rounded cylindrical shape in the basket for holding items and then lift the basket for holding items.", + "Grab the red-orange text on white can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Take the cylindrical white glossy can and put it in the woven basket, then lift the woven basket.", + "Use the left arm to pick the beverage can with printed label, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Hold the white can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the medium metal can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Grab the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Pick up the beverage can with printed label, put it into the brown basket, and lift the brown basket.", + "Use the left arm to grab the can with red-orange text, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the left arm to take the can with red-orange text, drop it in the brown basket, and lift the brown basket.", + "Pick the can with red-orange text, set it in the light brown oval basket, and lift the light brown oval basket upward.", + "Use the left arm to grab the can with red-orange text and place in the basket with loop handle, lift the basket with loop handle with another arm.", + "Grab the red-orange text on white can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm." + ], + "unseen": [ + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..8e36f3de6dd1b34027067d75e7dbac6ccb6a457a --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-orange text on white can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the cylindrical white glossy can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Drop the red-orange text on white can into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm.", + "Grab the can with red-orange text, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the can with sealed gold top, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the white can, put it in the plastic basket, and carry the plastic basket afterward.", + "Place the red-orange text on white can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the cylindrical white glossy can, set it inside the yellow basket, then lift the yellow basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Take the cylindrical white glossy can with the left arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the smooth white can with accents, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Use the left arm to grab the beverage can with printed label and place in the basket with black handle, lift the basket with black handle with another arm.", + "Use the left arm to grab the small white can with branding, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the smooth white can with accents with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Take the red-orange text on white can, place it into the yellow basket, then lift the yellow basket.", + "Take the beverage can with printed label, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the medium metal can using the left arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the smooth white can with accents and put it in the bright yellow basket, then lift the bright yellow basket.", + "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with arched black grip, and lift the basket with arched black grip.", + "Hold the small white can with branding using the left arm, place it in the yellow basket, and lift the yellow basket.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the same arm to grab the white can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the white can using the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the can with rounded cylindrical shape, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the smooth white can with accents, put it in the plastic basket, and lift the plastic basket.", + "Use the left arm for the red-orange text on white can, place the red-orange text on white can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the medium metal can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the left arm to grab the white can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick the white can, set it in the handheld basket, and lift the handheld basket upward.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the bright yellow basket and lift the bright yellow basket.", + "Take the medium metal can in the left arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Lift the can with rounded cylindrical shape, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Place the smooth white can with accents in the yellow basket and then use another arm to lift the yellow basket.", + "Pick the can with red-orange text with the left arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the white can with 3D RADY label, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the cylindrical white glossy can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the red-orange text on white can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Lift the can with rounded cylindrical shape, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the cylindrical white glossy can, set it into the plastic basket, then raise the plastic basket.", + "Grab the medium metal can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Use the left arm to take the small white can with branding, drop it in the plastic basket, and lift the plastic basket.", + "Pick the small white can with branding, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab and drop the medium metal can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick the smooth white can with accents with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the red-orange text on white can, place it into the plastic basket, then lift the plastic basket.", + "Pick up the cylindrical white glossy can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the can with gold top lid, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Pick the can with red-orange text with the left arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the can with gold top lid with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the white can with the left arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the beverage can with printed label, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the can with sealed gold top, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Drop the can with red-orange text into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Grab the medium metal can, put it in the plastic basket, then raise the plastic basket.", + "Grab the can with red-orange text, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the cylindrical white glossy can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Place the small white can with branding inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the cylindrical white glossy can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the left arm to grab the can with sealed gold top, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Take the smooth white can with accents with the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the can with rounded cylindrical shape, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Use the left arm to grab the red-orange text on white can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the left arm to grab the cylindrical white glossy can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the white can with 3D RADY label with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Take the cylindrical white glossy can, place it into the plastic basket, then lift the plastic basket.", + "Take the can with red-orange text, set it into the handheld basket, and raise the handheld basket.", + "Pick the can with gold top lid using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the can with sealed gold top and put it in the handheld basket, then lift the handheld basket.", + "Use the left arm to hold the small white can with branding, drop the small white can with branding into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Hold the small white can with branding using the left arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to pick the small white can with branding, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the same arm to grab the white can with 3D RADY label, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the small white can with branding, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Pick up the small white can with branding, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the plastic basket, and lift the plastic basket.", + "Grab the white can with 3D RADY label, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Use the left arm to grab the small white can with branding, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick the beverage can with printed label, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Take the white can with 3D RADY label in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Lift the can with gold top lid, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Place the white can with 3D RADY label in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Pick the white can with the left arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the can with rounded cylindrical shape, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Lift the red-orange text on white can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Place the medium metal can in the handheld basket and then lift the handheld basket.", + "Lift the can with rounded cylindrical shape, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the white can with 3D RADY label, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the smooth white can with accents, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the left arm to take the beverage can with printed label, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the smooth white can with accents, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab and drop the red-orange text on white can in the bright yellow basket, lift the bright yellow basket.", + "Pick the white can with 3D RADY label with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the smooth white can with accents, place it into the handheld basket, then lift the handheld basket.", + "Pick up the small white can with branding, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the beverage can with printed label, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Pick the can with rounded cylindrical shape with the left arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the can with gold top lid with the left arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the white can with the left arm, place into the plastic basket, the other arm raises the plastic basket." + ], + "unseen": [ + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..21ec5cc0846712ce7576aa7dee0daaead3dd4616 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the light brown can with smooth texture using the left arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the smooth light brown can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the light brown can with smooth texture, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the metal can with printed white graphics using the left arm, drop the metal can with printed white graphics into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Drop the smooth light brown can into the rectangular yellow basket using the left arm, then lift the rectangular yellow basket with another arm.", + "Grab the metal can with white decorative designs, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Grab the light brown can with smooth texture, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Grab the rounded metallic can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the hand-sized metallic can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Take the drink can with light brown shade with the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Place the drink can with light brown shade in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Place the drink can with light brown shade inside the basket with black handle, then lift the basket with black handle.", + "Pick up the drink can with light brown shade, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the drink can with light brown shade and put it in the yellow basket, then lift the yellow basket.", + "Pick the metal can with printed white graphics, set it in the handheld basket, and lift the handheld basket upward.", + "Pick up the hand-sized metallic can with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the small cylindrical drink container, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Use the left arm to grab the small cylindrical drink container, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Use the left arm to hold the light brown can with smooth texture, drop the light brown can with smooth texture into the yellow basket, and lift the yellow basket.", + "Grab the metal can with printed white graphics, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the small light brown cylindrical can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the smooth brown can with rounded edges, drop it into the plastic basket, then carry the plastic basket.", + "Pick the drink can with light brown shade with the left arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab and drop the drink can with light brown shade in the yellow basket, lift the yellow basket.", + "Use the left arm for the smooth light brown can, place the smooth light brown can in the basket with black handle, and lift the basket with black handle.", + "Take the smooth light brown can, set it into the plastic basket, and raise the plastic basket.", + "Pick the white patterned brown metal can with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the drink can with light brown shade, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Use the left arm to take the drink can with light brown shade, drop it in the plastic basket, and lift the plastic basket.", + "Pick the hand-sized metallic can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Grab the light brown can with smooth texture with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the small cylindrical drink container, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the white patterned brown metal can with the left arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the light brown can with smooth texture, place it in the yellow basket, and raise the yellow basket.", + "Place the hand-sized metallic can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Take the smooth brown can with rounded edges in the left arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Use the left arm to grab the brown can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the metal can with printed white graphics, put it in the handheld basket, and lift the handheld basket.", + "Use the left arm to grab the drink can with light brown shade, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Lift the smooth brown can with rounded edges, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the hand-sized metallic can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the drink can with light brown shade using the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the left arm to grab the white patterned brown metal can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the white patterned brown metal can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Take the hand-sized metallic can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the small cylindrical drink container, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the same arm to grab the small light brown cylindrical can, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the light brown can with smooth texture, set it in the basket with black handle, then lift the basket with black handle.", + "Use the left arm to pick the smooth brown can with rounded edges, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the small cylindrical drink container using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Hold the hand-sized metallic can using the left arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the white patterned brown metal can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the light brown can with smooth texture, place it in the yellow basket, and then lift the yellow basket.", + "Grab the smooth light brown can using the left arm, drop the smooth light brown can into the basket with black handle and lift the basket with black handle.", + "Drop the smooth brown can with rounded edges into the carrying basket with black plastic handle using the left arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the rounded metallic can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Grab the drink can with light brown shade, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Grab the metal can with white decorative designs, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Grab the rounded metallic can, put it in the handheld basket, then raise the handheld basket.", + "Take the rounded metallic can with the left arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Place the drink can with light brown shade in the yellow basket and then lift the yellow basket.", + "Place the hand-sized metallic can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the small cylindrical drink container, place it into the bright yellow basket, then lift the bright yellow basket.", + "Take the brown can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the drink can with light brown shade, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick up the drink can with light brown shade with the left arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the smooth light brown can, place it in the plastic basket, pick up the plastic basket afterward.", + "Use the left arm to grab the rounded metallic can, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Use the left arm to hold the smooth light brown can, drop the smooth light brown can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the drink can with light brown shade, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the metal can with white decorative designs, set it inside the yellow basket, then lift the yellow basket.", + "Lift the light brown can with smooth texture, drop it into the plastic basket, then carry the plastic basket.", + "Pick the rounded metallic can with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab and drop the brown can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the left arm for the rounded metallic can, place the rounded metallic can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the white patterned brown metal can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the brown can with the left arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the smooth brown can with rounded edges, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the left arm to take the small cylindrical drink container, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the rounded metallic can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the smooth brown can with rounded edges with the left arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the brown can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the light brown can with smooth texture with the left arm, set it in the bright yellow basket, and lift with another arm.", + "Lift the smooth light brown can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the brown can in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Take the smooth light brown can in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Use the left arm to grab the white patterned brown metal can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the small light brown cylindrical can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to grab the smooth brown can with rounded edges, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Lift the metal can with white decorative designs, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the drink can with light brown shade, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the rounded metallic can using the left arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the left arm to grab the metal can with white decorative designs, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the small cylindrical drink container, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Take the metal can with white decorative designs, place it into the handheld basket, then lift the handheld basket.", + "Grab the hand-sized metallic can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Use the same arm to grab the small cylindrical drink container, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the metal can with printed white graphics, set it in the plastic basket, then lift the plastic basket.", + "Use the left arm to pick the brown can, place it inside the yellow basket, then lift the yellow basket.", + "Pick the smooth light brown can using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm." + ], + "unseen": [ + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..7f224eb774a24b42a7621f6976e9499aa591f2ca --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the metallic red beverage can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the same arm to grab the red cylindrical can with silver top, place in the yellow basket, and then lift the yellow basket.", + "Grab the red cylindrical can with silver top, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the right arm to take the red can with white lettering, drop it in the plastic basket, and lift the plastic basket.", + "Grab the Coca-Cola can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the smooth red can with silver bottom, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Lift the cylindrical red drink can with logo with the right arm, set it in the yellow basket, and lift with another arm.", + "Use the right arm to grab the Coca-Cola soda can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Drop the cylindrical red drink can with logo into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Grab the red cylindrical can with silver top, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Hold the Coca-Cola can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the small aluminum red drink can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick the Coca-Cola soda can with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Use the right arm to grab the Coca-Cola can, place it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm for the red can with white Coca-Cola logo, place the red can with white Coca-Cola logo in the bright yellow basket, and lift the bright yellow basket.", + "Lift the Coca-Cola soda can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab and drop the Coca-Cola soda can in the basket with arched black grip, lift the basket with arched black grip.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Use the right arm to hold the metallic red beverage can, drop the metallic red beverage can into the basket with black handle, and lift the basket with black handle.", + "Pick up the hand-sized red can for drinks, put it into the basket with black handle, and lift the basket with black handle.", + "Pick up the smooth red can with silver bottom with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick the red can with white lettering using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the hand-sized red can for drinks, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the red can with smooth metallic texture, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Take the small aluminum red drink can, set it into the basket with black handle, and raise the basket with black handle.", + "Grab the red can with smooth metallic texture, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Take the hand-sized red can for drinks with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Place the red can with white Coca-Cola logo inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the metallic red beverage can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Place the Coca-Cola can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick the red can with smooth metallic texture with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the smooth red can with silver bottom with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Lift the metallic red beverage can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick up the red can with white lettering, set it inside the yellow basket, then lift the yellow basket.", + "Grab the red can with white Coca-Cola logo, drop it into the plastic basket, and raise the plastic basket.", + "Grab the smooth red can with silver bottom using the right arm, drop the smooth red can with silver bottom into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Take the hand-sized red can for drinks, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red can with white Coca-Cola logo, place it in the handheld basket, and then lift the handheld basket.", + "Lift the Coca-Cola soda can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the red can with white Coca-Cola logo, put it in the yellow basket, and lift the yellow basket.", + "Pick up the hand-sized red can for drinks using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm to pick the red can with white Coca-Cola logo, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the rounded red Coca-Cola soda container, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Place the red can with smooth metallic texture in the bright yellow basket and then lift the bright yellow basket.", + "Use the right arm to grab the rounded red Coca-Cola soda container and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Use the right arm to grab the Coca-Cola can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the red cylindrical can with silver top, place it in the yellow basket, and then lift the yellow basket.", + "Pick the red cylindrical can with silver top, set it in the plastic basket, then lift the plastic basket.", + "Take the Coca-Cola can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the hand-sized red can for drinks, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the same arm to grab the cylindrical red drink can with logo, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the hand-sized red can for drinks, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the hand-sized red can for drinks, put it in the yellow basket, then raise the yellow basket.", + "Grab the small aluminum red drink can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Lift the metallic red beverage can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Use the right arm to grab the cylindrical red drink can with logo, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Drop the red can with white lettering into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the red can with white lettering, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Hold the smooth red can with silver bottom using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Lift the hand-sized red can for drinks, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the red cylindrical can with silver top with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the right arm to grab the Coca-Cola can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm for the hand-sized red can for drinks, place the hand-sized red can for drinks in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the red can with white lettering, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab and drop the red can with smooth metallic texture in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Take the red cylindrical can with silver top in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Use the right arm to hold the metallic red beverage can, drop the metallic red beverage can into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red cylindrical can with silver top, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the smooth red can with silver bottom with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick the red can with white lettering using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the metallic red beverage can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the small aluminum red drink can, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Take the Coca-Cola soda can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the metallic red beverage can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Take the red cylindrical can with silver top with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Place the red can with smooth metallic texture inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the smooth red can with silver bottom, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Place the rounded red Coca-Cola soda container in the handheld basket and then use another arm to lift the handheld basket.", + "Pick the rounded red Coca-Cola soda container with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the red can with smooth metallic texture with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Lift the Coca-Cola soda can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the red can with white Coca-Cola logo, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the red can with white lettering, drop it into the basket with black handle, and raise the basket with black handle.", + "Grab the rounded red Coca-Cola soda container using the right arm, drop the rounded red Coca-Cola soda container into the basket with arched black grip and lift the basket with arched black grip.", + "Take the Coca-Cola soda can, place it into the handheld basket, then lift the handheld basket.", + "Grab the red cylindrical can with silver top, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the smooth red can with silver bottom, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Pick up the cylindrical red drink can with logo, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the Coca-Cola can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to pick the small aluminum red drink can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the small aluminum red drink can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Place the red can with white lettering in the plastic basket and then lift the plastic basket.", + "Use the right arm to grab the rounded red Coca-Cola soda container and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Use the right arm to grab the red can with white lettering, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick the metallic red beverage can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the red can with white lettering, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the red cylindrical can with silver top, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the rounded red Coca-Cola soda container and put it in the basket with perforated sides, then lift the basket with perforated sides." + ], + "unseen": [ + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc4ce53ee61653d5de74af6ecf11cf683bc89b5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the light brown can with smooth texture using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Grab the drink can with light brown shade, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Pick up the hand-sized metallic can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the metal can with printed white graphics, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the metal can with white decorative designs, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Grab the small light brown cylindrical can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick the metal can with printed white graphics using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the left arm for the brown can, place the brown can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the left arm to grab the light brown can with smooth texture, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Grab the smooth brown can with rounded edges, put it in the light brown oval basket, then raise the light brown oval basket.", + "Drop the metal can with printed white graphics into the woven basket using the left arm, then lift the woven basket with another arm.", + "Take the smooth light brown can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Place the hand-sized metallic can in the basket for holding items and then lift the basket for holding items.", + "Pick the metal can with white decorative designs, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Grab the white patterned brown metal can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Pick the light brown can with smooth texture with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Pick up the drink can with light brown shade, place it into the basket with loop handle, then lift the basket with loop handle.", + "Take the light brown can with smooth texture, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the small cylindrical drink container, put it in the basket for holding items, and carry the basket for holding items afterward.", + "Use the left arm to grab the light brown can with smooth texture, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab and drop the metal can with white decorative designs in the basket for holding items, lift the basket for holding items.", + "Use the left arm to grab the smooth brown can with rounded edges, put it into the brown basket, and lift the brown basket with another arm.", + "Grab the rounded metallic can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the white patterned brown metal can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Take the rounded metallic can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Place the metal can with white decorative designs in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the brown can, place it in the woven basket, pick up the woven basket afterward.", + "Grab the smooth light brown can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Pick the metal can with white decorative designs with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick up the small cylindrical drink container, put it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the drink can with light brown shade, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Take the metal can with printed white graphics and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the small light brown cylindrical can, set it in the basket for holding items, and elevate the basket for holding items.", + "Hold the hand-sized metallic can using the left arm, place it in the woven basket, and lift the woven basket.", + "Pick the rounded metallic can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the metal can with printed white graphics, put it into the woven basket, and lift the woven basket.", + "Pick the rounded metallic can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the same arm to grab the hand-sized metallic can, place in the light brown oval basket, and then lift the light brown oval basket.", + "Place the metal can with white decorative designs inside the basket for carrying things, then lift the basket for carrying things.", + "Lift the metal can with printed white graphics with the left arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Pick up the smooth brown can with rounded edges with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Grab the smooth light brown can, place it in the woven basket, and lift the woven basket upwards.", + "Grab the smooth light brown can using the left arm, drop the smooth light brown can into the light brown oval basket and lift the light brown oval basket.", + "Pick up the rounded metallic can, set it inside the basket with handle, then lift the basket with handle.", + "Use the left arm to pick the brown can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Take the smooth light brown can with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Lift the smooth brown can with rounded edges, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Use the left arm to grab the hand-sized metallic can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Use the left arm to take the light brown can with smooth texture, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the hand-sized metallic can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Grab the white patterned brown metal can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Pick up the brown can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab the metal can with printed white graphics, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the metal can with white decorative designs, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Grab the smooth light brown can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the smooth brown can with rounded edges using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the left arm for the small light brown cylindrical can, place the small light brown cylindrical can in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the smooth brown can with rounded edges, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Grab the small cylindrical drink container, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Drop the white patterned brown metal can into the basket with handle using the left arm, then lift the basket with handle with another arm.", + "Take the light brown can with smooth texture, place it into the basket with handle, then lift the basket with handle.", + "Place the white patterned brown metal can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Pick the metal can with printed white graphics, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Grab the white patterned brown metal can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick the drink can with light brown shade with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the rounded metallic can, place it into the brown basket, then lift the brown basket.", + "Take the metal can with printed white graphics, set it into the basket for carrying things, and raise the basket for carrying things.", + "Lift the smooth light brown can, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the left arm to grab the small light brown cylindrical can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab and drop the small cylindrical drink container in the basket for holding items, lift the basket for holding items.", + "Use the left arm to grab the brown can, put it into the brown basket, and lift the brown basket with another arm.", + "Grab the metal can with printed white graphics with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Lift the smooth light brown can, place it inside the basket with handle, and elevate the basket with handle.", + "Take the rounded metallic can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Place the rounded metallic can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Lift the light brown can with smooth texture, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Grab the light brown can with smooth texture, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.", + "Pick the small cylindrical drink container with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick up the smooth light brown can, put it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the drink can with light brown shade, place it in the basket for carrying things, and raise the basket for carrying things.", + "Take the smooth light brown can and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the left arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the basket with handle, and lift the basket with handle.", + "Lift the smooth brown can with rounded edges, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Hold the light brown can with smooth texture using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the light brown can with smooth texture, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the light brown can with smooth texture, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the light brown can with smooth texture with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Use the same arm to grab the metal can with white decorative designs, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Place the brown can inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the smooth light brown can with the left arm, set it in the brown basket with woven ridges, and lift with another arm.", + "Pick up the metal can with white decorative designs with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Grab the white patterned brown metal can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Grab the light brown can with smooth texture using the left arm, drop the light brown can with smooth texture into the woven basket and lift the woven basket.", + "Pick up the smooth brown can with rounded edges, set it inside the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to pick the white patterned brown metal can, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Take the light brown can with smooth texture with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the rounded metallic can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.", + "Use the left arm to grab the drink can with light brown shade and place in the brown basket, lift the brown basket with another arm.", + "Use the left arm to take the rounded metallic can, drop it in the woven basket, and lift the woven basket." + ], + "unseen": [ + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the rounded can with smooth printed surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the rounded can with smooth printed surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the rounded can with smooth printed surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..d6001fc39285ba7f360059288fa82a4d5c2d365b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the light brown can with smooth texture, drop it into the brown basket, and raise the brown basket with the other arm.", + "Lift the brown can, set it in the basket for holding items, and elevate the basket for holding items.", + "Use the left arm for the small cylindrical drink container, place the small cylindrical drink container in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the metal can with printed white graphics, put it into the woven basket, and lift the woven basket with another arm.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the small light brown cylindrical can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Pick the small cylindrical drink container using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Use the same arm to grab the hand-sized metallic can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Grab the metal can with white decorative designs, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Lift the smooth light brown can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the white patterned brown metal can, put it into the light brown oval basket, and lift the light brown oval basket.", + "Take the rounded metallic can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Drop the smooth light brown can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.", + "Pick the smooth light brown can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the white patterned brown metal can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick the metal can with printed white graphics with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Take the light brown can with smooth texture, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab and drop the light brown can with smooth texture in the basket for holding items, lift the basket for holding items.", + "Use the left arm to take the smooth brown can with rounded edges, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the smooth light brown can in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Grab the rounded metallic can, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick up the light brown can with smooth texture with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Lift the drink can with light brown shade, place it inside the basket with handle, and elevate the basket with handle.", + "Use the left arm to grab the brown can, place it in the basket with loop handle, and lift the basket with loop handle.", + "Grab the light brown can with smooth texture, place it in the basket with handle, and lift the basket with handle upwards.", + "Grab the hand-sized metallic can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick up the hand-sized metallic can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Place the rounded metallic can in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Hold the drink can with light brown shade using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the metal can with white decorative designs, set it in the brown basket, and lift the brown basket upward.", + "Grab the smooth light brown can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick the metal can with printed white graphics, set it in the basket with handle, then lift the basket with handle.", + "Use the left arm to hold the metal can with printed white graphics, drop the metal can with printed white graphics into the light brown oval basket, and lift the light brown oval basket.", + "Lift the metal can with printed white graphics, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Lift the rounded metallic can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Use the left arm to grab the drink can with light brown shade, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Take the white patterned brown metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the left arm to pick the metal can with white decorative designs, place it inside the brown basket, then lift the brown basket.", + "Take the white patterned brown metal can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the rounded metallic can with the left arm, set it in the light brown oval basket, and lift with another arm.", + "Grab the white patterned brown metal can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Lift the smooth light brown can, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Grab the white patterned brown metal can using the left arm, drop the white patterned brown metal can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick up the metal can with white decorative designs, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the small light brown cylindrical can, place it in the woven basket, and then lift the woven basket.", + "Use the left arm to grab the smooth light brown can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Place the rounded metallic can in the brown basket and then use another arm to lift the brown basket.", + "Place the drink can with light brown shade inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the white patterned brown metal can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the smooth light brown can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab the small light brown cylindrical can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.", + "Lift the small cylindrical drink container, set it in the basket with handle, and elevate the basket with handle.", + "Use the left arm for the small cylindrical drink container, place the small cylindrical drink container in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to grab the smooth light brown can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Pick up the small light brown cylindrical can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the drink can with light brown shade, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Pick the hand-sized metallic can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the same arm to grab the brown can, place in the basket with handle, and then lift the basket with handle.", + "Grab the metal can with white decorative designs, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Lift the smooth light brown can, place it in the woven basket, and raise the woven basket.", + "Pick up the rounded metallic can, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Take the rounded metallic can, set it into the light brown oval basket, and raise the light brown oval basket.", + "Drop the small cylindrical drink container into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Pick the white patterned brown metal can with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the small light brown cylindrical can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick the white patterned brown metal can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Take the smooth light brown can, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab and drop the light brown can with smooth texture in the wooden basket with curved handle, lift the wooden basket with curved handle.", + "Use the left arm to take the white patterned brown metal can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the metal can with printed white graphics in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the white patterned brown metal can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Pick up the smooth light brown can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Lift the rounded metallic can, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Use the left arm to grab the metal can with printed white graphics, place it in the woven basket, and lift the woven basket.", + "Grab the small light brown cylindrical can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Grab the white patterned brown metal can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick up the white patterned brown metal can, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the brown can in the basket for carrying things and then lift the basket for carrying things.", + "Hold the hand-sized metallic can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick the smooth light brown can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Grab the smooth brown can with rounded edges, put it in the basket with loop handle, then raise the basket with loop handle.", + "Pick the small light brown cylindrical can, set it in the basket with handle, then lift the basket with handle.", + "Use the left arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the small light brown cylindrical can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Lift the smooth light brown can, drop it into the woven basket, then carry the woven basket.", + "Use the left arm to grab the small light brown cylindrical can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.", + "Take the brown can and put it in the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to pick the rounded metallic can, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Take the small cylindrical drink container with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Lift the hand-sized metallic can with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Grab the small cylindrical drink container, set it into the basket with handle, then raise the basket with handle.", + "Lift the hand-sized metallic can, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Grab the light brown can with smooth texture using the left arm, drop the light brown can with smooth texture into the woven basket and lift the woven basket.", + "Pick up the smooth light brown can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the metal can with printed white graphics, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Use the left arm to grab the small cylindrical drink container and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Place the light brown can with smooth texture in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Place the smooth brown can with rounded edges inside the basket for holding items, then lift the basket for holding items.", + "Pick the hand-sized metallic can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Pick up the rounded metallic can, put it in the basket for carrying things, and lift the basket for carrying things." + ], + "unseen": [ + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the light brown cylindrical can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the light brown cylindrical can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the rounded can with smooth printed surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical brown drink can with white markings, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical brown drink can with white markings, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the light brown cylindrical can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the rounded can with smooth printed surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the light brown cylindrical can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the light brown cylindrical can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical brown drink can with white markings, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical brown drink can with white markings, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical brown drink can with white markings, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the basket with rounded edges, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the light brown cylindrical can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the light brown cylindrical can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical brown drink can with white markings, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the light brown cylindrical can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the rounded can with smooth printed surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the rounded can with smooth printed surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the light brown cylindrical can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the light brown cylindrical can, place it into the basket with rounded edges, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the light brown cylindrical can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8ebe5586764768d1fcfb7d0975aa9ad0f4c0c8 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the can with sealed gold top, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Use the left arm to grab the red-orange text on white can, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick up the can with red-orange text, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Place the can with gold top lid inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the white can, set it into the woven basket, then raise the woven basket.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Grab the medium metal can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Pick the smooth white can with accents with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Hold the medium metal can using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Pick up the medium metal can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab and drop the can with sealed gold top in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Grab the can with rounded cylindrical shape, put it in the basket with loop handle, then raise the basket with loop handle.", + "Take the smooth white can with accents, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to grab the can with red-orange text, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Lift the cylindrical white glossy can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Take the can with sealed gold top in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to grab the beverage can with printed label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Use the left arm to grab the can with red-orange text and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Drop the can with sealed gold top into the brown basket using the left arm, then lift the brown basket with another arm.", + "Grab the white can with 3D RADY label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the white can with 3D RADY label, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick up the smooth white can with accents, put it into the woven basket, and lift the woven basket.", + "Pick up the can with sealed gold top, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the can with rounded cylindrical shape, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Pick up the beverage can with printed label, place it in the basket with handle, and then lift the basket with handle.", + "Pick the smooth white can with accents with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Place the can with rounded cylindrical shape in the brown basket and then use another arm to lift the brown basket.", + "Lift the beverage can with printed label, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the can with gold top lid, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Pick the red-orange text on white can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the left arm to take the can with red-orange text, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with handle and lift the basket with handle.", + "Use the left arm to pick the can with red-orange text, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Take the white can and put it in the woven basket, then lift the woven basket.", + "Use the left arm for the can with red-orange text, place the can with red-orange text in the light brown oval basket, and lift the light brown oval basket.", + "Pick the white can, set it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the cylindrical white glossy can with the left arm, set it in the woven basket, and lift with another arm.", + "Take the white can, set it into the brown basket, and raise the brown basket.", + "Pick the beverage can with printed label using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the red-orange text on white can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.", + "Take the medium metal can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the can with rounded cylindrical shape in the brown basket and then lift the brown basket.", + "Pick up the red-orange text on white can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.", + "Grab the white can with 3D RADY label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Lift the red-orange text on white can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Use the same arm to grab the beverage can with printed label, place in the brown basket, and then lift the brown basket.", + "Pick the cylindrical white glossy can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Lift the can with gold top lid, set it in the basket with handle, and elevate the basket with handle.", + "Pick up the white can, place it into the basket with loop handle, then lift the basket with loop handle.", + "Grab the red-orange text on white can, place it in the basket with handle, and then lift the basket with handle.", + "Use the left arm to grab the cylindrical white glossy can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the medium metal can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Place the can with gold top lid inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the white can with 3D RADY label, set it into the basket for holding items, then raise the basket for holding items.", + "Grab the medium metal can with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Pick the white can with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Hold the can with red-orange text using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Pick up the red-orange text on white can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Grab and drop the can with red-orange text in the basket for holding items, lift the basket for holding items.", + "Grab the white can, put it in the woven basket, then raise the woven basket.", + "Take the cylindrical white glossy can, place it into the basket for holding items, then lift the basket for holding items.", + "Use the left arm to grab the small white can with branding, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Lift the can with sealed gold top, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Take the white can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Use the left arm to hold the medium metal can, drop the medium metal can into the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the can with sealed gold top, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.", + "Use the left arm to grab the can with gold top lid and place in the basket with handle, lift the basket with handle with another arm.", + "Drop the smooth white can with accents into the basket for holding items using the left arm, then lift the basket for holding items with another arm.", + "Grab the can with gold top lid, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the can with gold top lid, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Pick up the can with red-orange text, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the small white can with branding, put it in the basket with handle, and lift the basket with handle.", + "Lift the white can with 3D RADY label, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick up the medium metal can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the white can with 3D RADY label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Place the white can in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Lift the cylindrical white glossy can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the smooth white can with accents, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Pick the medium metal can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the left arm to take the can with sealed gold top, drop it in the woven basket, and lift the woven basket.", + "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Use the left arm to pick the red-orange text on white can, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Take the smooth white can with accents and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the red-orange text on white can, set it in the brown basket, then lift the brown basket.", + "Lift the white can with 3D RADY label with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Take the medium metal can, set it into the light brown oval basket, and raise the light brown oval basket.", + "Pick the smooth white can with accents using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Lift the beverage can with printed label, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Take the white can with 3D RADY label with the left arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Place the can with gold top lid in the basket with handle and then lift the basket with handle.", + "Pick up the can with sealed gold top with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Grab the smooth white can with accents, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Lift the beverage can with printed label, drop it into the woven basket, then carry the woven basket.", + "Use the same arm to grab the can with sealed gold top, place in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the can with gold top lid, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Lift the white can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Pick up the white can with 3D RADY label, place it into the basket made of woven wood, then lift the basket made of woven wood." + ], + "unseen": [ + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..cb9d910aa708d6d46f78df5cbb9b687fb46c7e24 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the can with red green label and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Use the right arm to grab the green red metallic soda can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the handheld basket, and lift the handheld basket.", + "Take the green red metallic soda can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the metallic drink can with pull-tab, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Grab the red green can using the right arm, drop the red green can into the basket with perforated sides and lift the basket with perforated sides.", + "Take the red green beverage can and put it in the plastic basket, then lift the plastic basket.", + "Grab the green red metallic soda can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Grab the green red metallic soda can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the yellow basket, and lift the yellow basket.", + "Lift the metal can with pull-tab top, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Lift the colorful can with lime and orange design with the right arm, set it in the yellow basket, and lift with another arm.", + "Take the colorful can with lime and orange design, set it into the bright yellow basket, and raise the bright yellow basket.", + "Hold the green red metallic soda can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the drink can with bright colors, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick the drink can with bright colors with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Lift the metal can with pull-tab top, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick up the metallic drink can with pull-tab, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the red green can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Pick up the metal can with pull-tab top, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the small soda can with lime graphics, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the beverage can with red green graphics in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Pick up the green red metallic soda can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the red green can in the bright yellow basket and then lift the bright yellow basket.", + "Pick the beverage can with red green graphics, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the same arm to grab the green red metallic soda can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the soda can with lime illustration, set it into the bright yellow basket, then raise the bright yellow basket.", + "Take the can with red green label in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab the drink can with bright colors, drop it into the handheld basket, and raise the handheld basket.", + "Pick the beverage can with red green graphics, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Lift the metallic drink can with pull-tab, place it in the plastic basket, and raise the plastic basket.", + "Pick up the drink can with bright colors, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to pick the metallic drink can with pull-tab, place it inside the yellow basket, then lift the yellow basket.", + "Pick the green red metallic soda can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Drop the small soda can with lime graphics into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Pick the green red metallic soda can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the beverage can with red green graphics, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab and drop the drink can with bright colors in the rectangular yellow basket, lift the rectangular yellow basket.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the soda can with lime illustration, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Place the red green beverage can inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to take the soda can with lime illustration, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the metallic drink can with pull-tab with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the right arm to grab the red green can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the green red metallic soda can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the green red metallic soda can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Lift the beverage can with red green graphics, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Take the colorful can with lime and orange design, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the beverage can with red green graphics, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the metal can with pull-tab top and place in the yellow basket, lift the yellow basket with another arm.", + "Use the right arm to grab the beverage can with red green graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to hold the drink can with bright colors, drop the drink can with bright colors into the handheld basket, and lift the handheld basket.", + "Take the beverage can with red green graphics with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the can with red green label, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab the red green can using the right arm, drop the red green can into the yellow basket and lift the yellow basket.", + "Take the red green beverage can and put it in the yellow basket, then lift the yellow basket.", + "Grab the drink can with bright colors, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Grab the small soda can with lime graphics, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the basket with black handle, and lift the basket with black handle.", + "Lift the metallic drink can with pull-tab, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the small soda can with lime graphics with the right arm, set it in the handheld basket, and lift with another arm.", + "Take the drink can with bright colors, set it into the handheld basket, and raise the handheld basket.", + "Hold the small soda can with lime graphics using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab the red green beverage can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Pick the green red metallic soda can with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the small soda can with lime graphics, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Pick up the small soda can with lime graphics, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the beverage can with red green graphics, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the soda can with lime illustration, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the beverage can with red green graphics, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the green red metallic soda can in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Pick up the red green beverage can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the can with red green label in the plastic basket and then lift the plastic basket.", + "Pick the can with red green label, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the same arm to grab the soda can with lime illustration, place in the basket with black handle, and then lift the basket with black handle.", + "Grab the green red metallic soda can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Take the metallic drink can with pull-tab in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the small soda can with lime graphics, drop it into the handheld basket, and raise the handheld basket.", + "Pick the metal can with pull-tab top, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Lift the red green beverage can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the metallic drink can with pull-tab, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the green red metallic soda can using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the red green beverage can with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Drop the smooth cylindrical can with lime pattern into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Pick the red green beverage can with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Grab the red green beverage can, place it in the yellow basket, and then lift the yellow basket.", + "Grab and drop the metallic drink can with pull-tab in the handheld basket, lift the handheld basket.", + "Pick up the drink can with bright colors using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Lift the metal can with pull-tab top, put it in the plastic basket, and carry the plastic basket afterward.", + "Place the smooth cylindrical can with lime pattern inside the handheld basket, then lift the handheld basket.", + "Use the right arm to take the red green beverage can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the can with red green label with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the red green can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the green red metallic soda can with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Lift the small soda can with lime graphics, place it inside the handheld basket, and elevate the handheld basket.", + "Take the metal can with pull-tab top, place it into the yellow basket, then lift the yellow basket.", + "Pick up the red green can, set it inside the plastic basket, then lift the plastic basket." + ], + "unseen": [ + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb64d5b07228f171e00a406afa3ff63320d4924 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the can with sealed gold top, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Lift the can with sealed gold top, place it in the plastic basket, and raise the plastic basket.", + "Place the can with sealed gold top in the basket with black handle and then use another arm to lift the basket with black handle.", + "Place the can with sealed gold top inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the medium metal can, place it in the handheld basket, and lift the handheld basket.", + "Take the smooth white can with accents, set it into the handheld basket, and raise the handheld basket.", + "Grab the beverage can with printed label, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Grab the white can with 3D RADY label, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the white can with 3D RADY label, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Take the can with rounded cylindrical shape and put it in the plastic basket, then lift the plastic basket.", + "Take the medium metal can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Use the right arm to grab the can with sealed gold top, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Use the right arm to take the beverage can with printed label, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the small white can with branding, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the cylindrical white glossy can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Use the right arm to grab the smooth white can with accents and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the medium metal can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick up the can with red-orange text, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Grab the red-orange text on white can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to hold the can with red-orange text, drop the can with red-orange text into the basket with black handle, and lift the basket with black handle.", + "Grab the can with sealed gold top, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick the white can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the white can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Lift the can with red-orange text, place it inside the plastic basket, and elevate the plastic basket.", + "Take the can with rounded cylindrical shape, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab and drop the can with gold top lid in the handheld basket, lift the handheld basket.", + "Grab the medium metal can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Pick the white can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the white can, put it in the yellow basket, then raise the yellow basket.", + "Drop the white can with 3D RADY label into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Pick up the small white can with branding using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the small white can with branding, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the small white can with branding, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the can with rounded cylindrical shape with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick up the smooth white can with accents, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the smooth white can with accents, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Take the beverage can with printed label with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the red-orange text on white can using the right arm, drop the red-orange text on white can into the handheld basket and lift the handheld basket.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the can with sealed gold top with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Pick the can with sealed gold top with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the white can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Hold the can with sealed gold top using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the red-orange text on white can in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the same arm to grab the red-orange text on white can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the beverage can with printed label, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Lift the cylindrical white glossy can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the medium metal can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the small white can with branding, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Lift the medium metal can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Place the white can with 3D RADY label in the yellow basket and then use another arm to lift the yellow basket.", + "Place the can with gold top lid inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the white can with 3D RADY label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the smooth white can with accents, set it into the plastic basket, and raise the plastic basket.", + "Grab the can with sealed gold top, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Grab the can with sealed gold top, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the yellow basket, and lift the yellow basket.", + "Lift the red-orange text on white can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Take the beverage can with printed label and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the smooth white can with accents in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Use the right arm to grab the cylindrical white glossy can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Use the right arm to take the smooth white can with accents, drop it in the handheld basket, and lift the handheld basket.", + "Pick up the red-orange text on white can, place it into the basket with black handle, then lift the basket with black handle.", + "Lift the small white can with branding, drop it into the plastic basket, then carry the plastic basket.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the can with sealed gold top with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Pick up the cylindrical white glossy can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick the beverage can with printed label, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the yellow basket, and lift the yellow basket.", + "Grab the cylindrical white glossy can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the smooth white can with accents using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Grab the small white can with branding, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Lift the beverage can with printed label, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Take the red-orange text on white can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab and drop the medium metal can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Pick the cylindrical white glossy can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the beverage can with printed label, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Drop the can with gold top lid into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Pick up the can with sealed gold top using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the beverage can with printed label, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the can with gold top lid, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick the small white can with branding with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the white can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the white can with 3D RADY label, set it in the yellow basket, then lift the yellow basket.", + "Take the can with sealed gold top with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the bright yellow basket and lift the bright yellow basket.", + "Use the right arm to pick the can with red-orange text, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the white can with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the cylindrical white glossy can with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the small white can with branding, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Hold the cylindrical white glossy can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the can with rounded cylindrical shape in the yellow basket and then lift the yellow basket.", + "Use the same arm to grab the can with red-orange text, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to grab the small white can with branding, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Lift the can with rounded cylindrical shape, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick up the white can with 3D RADY label, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots." + ], + "unseen": [ + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..58c880b580834d61a5258f5d321c67f769ec1174 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the can with red-orange text with the left arm, set it in the basket for carrying things, and lift with another arm.", + "Lift the can with sealed gold top, place it in the basket for carrying things, and raise the basket for carrying things.", + "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket made of woven wood and lift the basket made of woven wood.", + "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Place the beverage can with printed label inside the basket for holding items, then lift the basket for holding items.", + "Lift the can with red-orange text, drop it into the basket for holding items, then carry the basket for holding items.", + "Grab the can with rounded cylindrical shape, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Pick the can with red-orange text with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick up the small white can with branding, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the smooth white can with accents, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Pick up the beverage can with printed label, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Drop the white can into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Lift the white can, put it in the woven basket, and carry the woven basket afterward.", + "Grab the red-orange text on white can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Pick up the can with gold top lid with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Grab the smooth white can with accents, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Pick up the small white can with branding, put it in the basket for carrying things, and lift the basket for carrying things.", + "Take the can with red-orange text, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the white can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.", + "Pick the can with sealed gold top, set it in the woven basket, then lift the woven basket.", + "Use the same arm to grab the beverage can with printed label, place in the light brown oval basket, and then lift the light brown oval basket.", + "Place the red-orange text on white can in the basket for holding items and then lift the basket for holding items.", + "Lift the smooth white can with accents, set it in the brown basket, and elevate the brown basket.", + "Take the white can with 3D RADY label, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Place the beverage can with printed label in the light brown oval basket and then use another arm to lift the light brown oval basket.", + "Hold the can with gold top lid using the left arm, place it in the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the white can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the basket with loop handle, and lift the basket with loop handle.", + "Grab and drop the small white can with branding in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Use the left arm to grab the medium metal can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Use the left arm to grab the small white can with branding and place in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the beverage can with printed label, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Take the red-orange text on white can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Pick up the medium metal can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the medium metal can, set it inside the basket for holding items, then lift the basket for holding items.", + "Grab the medium metal can, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Lift the beverage can with printed label, place it in the woven basket, pick up the woven basket afterward.", + "Pick the white can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the white can with 3D RADY label and put it in the basket for holding items, then lift the basket for holding items.", + "Grab the can with sealed gold top, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Use the left arm to take the can with gold top lid, drop it in the woven basket, and lift the woven basket.", + "Pick the small white can with branding with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the can with gold top lid with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Take the white can with 3D RADY label in the left arm, place it into the woven basket, another arm lifts the woven basket.", + "Use the left arm to grab the red-orange text on white can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.", + "Grab the cylindrical white glossy can, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Pick the red-orange text on white can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Pick the cylindrical white glossy can, set it in the woven basket, and lift the woven basket upward.", + "Grab the beverage can with printed label, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Use the left arm to pick the white can, place it inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the can with rounded cylindrical shape with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Lift the red-orange text on white can, place it in the basket for carrying things, and raise the basket for carrying things.", + "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the white can with 3D RADY label inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Lift the beverage can with printed label, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Grab the white can with 3D RADY label, place it in the basket with handle, and then lift the basket with handle.", + "Pick the red-orange text on white can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Pick up the can with rounded cylindrical shape, place it in the basket with handle, and then lift the basket with handle.", + "Lift the medium metal can, place it inside the basket for holding items, and elevate the basket for holding items.", + "Pick up the white can with 3D RADY label, place it into the brown basket, then lift the brown basket.", + "Drop the can with rounded cylindrical shape into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.", + "Lift the can with rounded cylindrical shape, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Grab the white can, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick up the beverage can with printed label with the left arm, place into the woven basket, the other arm raises the woven basket.", + "Grab the cylindrical white glossy can, drop it into the brown basket, and raise the brown basket.", + "Pick up the red-orange text on white can, put it in the basket for holding items, and lift the basket for holding items.", + "Take the can with rounded cylindrical shape, place it into the woven basket, then lift the woven basket.", + "Pick up the can with sealed gold top using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Pick the smooth white can with accents, set it in the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the cylindrical white glossy can, place in the basket for holding items, and then lift the basket for holding items.", + "Place the smooth white can with accents in the basket made of woven wood and then lift the basket made of woven wood.", + "Lift the can with red-orange text, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Take the can with gold top lid, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Place the beverage can with printed label in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Hold the smooth white can with accents using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Use the left arm to grab the small white can with branding, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Grab and drop the medium metal can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Use the left arm to grab the beverage can with printed label, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.", + "Use the left arm to grab the cylindrical white glossy can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the white can with 3D RADY label, drop it into the basket for carrying things, then use another arm for the basket for carrying things.", + "Take the white can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.", + "Pick up the small white can with branding, put it into the basket for carrying things, and lift the basket for carrying things.", + "Pick up the smooth white can with accents, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Lift the small white can with branding, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Pick the cylindrical white glossy can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the beverage can with printed label and put it in the brown basket, then lift the brown basket.", + "Grab the white can with 3D RADY label, set it into the basket for carrying things, then raise the basket for carrying things.", + "Use the left arm to take the can with gold top lid, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the small white can with branding with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Grab the can with gold top lid with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the can with sealed gold top in the left arm, place it into the brown basket, another arm lifts the brown basket.", + "Use the left arm to grab the can with red-orange text, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Grab the red-orange text on white can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Pick the can with sealed gold top with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick the can with rounded cylindrical shape, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.", + "Grab the medium metal can, drop it into the woven basket, and raise the woven basket with the other arm.", + "Use the left arm to pick the can with red-orange text, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket." + ], + "unseen": [ + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..bad3a437feace35b0b89bb6bce6e06df1f598906 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the white can with 3D RADY label, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the white can with 3D RADY label, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the can with sealed gold top, place it in the plastic basket, and then lift the plastic basket.", + "Pick up the red-orange text on white can, place it into the basket with black handle, then lift the basket with black handle.", + "Grab the beverage can with printed label, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Use the right arm to grab the white can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Pick up the smooth white can with accents, put it into the yellow basket, and lift the yellow basket.", + "Grab the can with sealed gold top using the right arm, drop the can with sealed gold top into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red-orange text on white can and place in the yellow basket, lift the yellow basket with another arm.", + "Pick the cylindrical white glossy can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the medium metal can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Place the beverage can with printed label inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the small white can with branding, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab the cylindrical white glossy can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Lift the red-orange text on white can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the white can, set it into the basket with black handle, and raise the basket with black handle.", + "Pick the small white can with branding using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab and drop the white can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the same arm to grab the red-orange text on white can, place in the basket with black handle, and then lift the basket with black handle.", + "Take the red-orange text on white can and put it in the handheld basket, then lift the handheld basket.", + "Lift the can with sealed gold top with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the can with gold top lid with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick the red-orange text on white can, set it in the plastic basket, and lift the plastic basket upward.", + "Grab the medium metal can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Lift the can with rounded cylindrical shape, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Place the white can with 3D RADY label in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the right arm to grab the medium metal can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Lift the white can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Place the red-orange text on white can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick up the can with gold top lid using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Take the beverage can with printed label, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the red-orange text on white can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Pick the can with red-orange text with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Take the smooth white can with accents with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the red-orange text on white can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Take the beverage can with printed label in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Lift the beverage can with printed label, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the smooth white can with accents, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Use the right arm to grab the red-orange text on white can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Drop the white can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the handheld basket, then lift the handheld basket.", + "Hold the cylindrical white glossy can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the white can with 3D RADY label, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the red-orange text on white can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Grab the beverage can with printed label, drop it into the handheld basket, and raise the handheld basket.", + "Grab the cylindrical white glossy can, place it in the plastic basket, and then lift the plastic basket.", + "Pick up the red-orange text on white can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to take the medium metal can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the medium metal can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the smooth white can with accents, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, place it into the handheld basket, then lift the handheld basket.", + "Grab the white can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to grab the can with gold top lid, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick up the small white can with branding, put it into the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Use the right arm to grab the beverage can with printed label and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick the can with gold top lid, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the smooth white can with accents, put it in the bright yellow basket, and lift the bright yellow basket.", + "Place the medium metal can inside the basket with black handle, then lift the basket with black handle.", + "Lift the beverage can with printed label, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the beverage can with printed label, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Lift the red-orange text on white can, place it in the plastic basket, and raise the plastic basket.", + "Take the red-orange text on white can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the red-orange text on white can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab and drop the small white can with branding in the basket with arched black grip, lift the basket with arched black grip.", + "Use the same arm to grab the white can with 3D RADY label, place in the bright yellow basket, and then lift the bright yellow basket.", + "Take the smooth white can with accents and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the beverage can with printed label with the right arm, set it in the handheld basket, and lift with another arm.", + "Pick the smooth white can with accents with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the can with red-orange text, set it in the handheld basket, and lift the handheld basket upward.", + "Grab the cylindrical white glossy can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Lift the red-orange text on white can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Place the small white can with branding in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the cylindrical white glossy can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Lift the can with rounded cylindrical shape, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Place the white can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick up the medium metal can using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the white can with 3D RADY label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the red-orange text on white can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick the smooth white can with accents with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Take the medium metal can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the white can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Take the cylindrical white glossy can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Lift the can with sealed gold top, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the can with rounded cylindrical shape, put it in the bright yellow basket, then raise the bright yellow basket.", + "Use the right arm to grab the can with red-orange text, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the smooth white can with accents with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Drop the can with rounded cylindrical shape into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to pick the white can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Hold the white can with 3D RADY label using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm for the can with red-orange text, place the can with red-orange text in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the white can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the cylindrical white glossy can with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Grab the white can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the can with gold top lid, place it in the yellow basket, and then lift the yellow basket.", + "Pick up the medium metal can, set it inside the bright yellow basket, then lift the bright yellow basket." + ], + "unseen": [ + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..2b7b777973ae7df1a0f036c803ce33f91d4e4190 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the white can with 3D RADY label and place in the basket with black handle, lift the basket with black handle with another arm.", + "Place the white can in the bright yellow basket and then lift the bright yellow basket.", + "Grab the medium metal can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Take the red-orange text on white can with the left arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Use the left arm to grab the small white can with branding, put it into the handheld basket, and lift the handheld basket with another arm.", + "Grab the small white can with branding, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Hold the white can with 3D RADY label using the left arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the can with sealed gold top using the left arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the can with red-orange text, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Grab the medium metal can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Take the beverage can with printed label and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the white can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick up the can with red-orange text, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Drop the small white can with branding into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Grab the beverage can with printed label, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Grab the smooth white can with accents, place it in the plastic basket, and lift the plastic basket upwards.", + "Use the same arm to grab the small white can with branding, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Lift the white can, place it inside the plastic basket, and elevate the plastic basket.", + "Pick the can with red-orange text with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the left arm for the can with red-orange text, place the can with red-orange text in the basket with black handle, and lift the basket with black handle.", + "Pick up the can with rounded cylindrical shape, set it inside the yellow basket, then lift the yellow basket.", + "Pick up the smooth white can with accents, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Place the smooth white can with accents inside the plastic basket, then lift the plastic basket.", + "Pick up the can with rounded cylindrical shape, place it in the plastic basket, and then lift the plastic basket.", + "Grab the medium metal can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the cylindrical white glossy can with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Take the smooth white can with accents in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the can with sealed gold top with the left arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Take the can with rounded cylindrical shape, place it into the plastic basket, then lift the plastic basket.", + "Pick the can with gold top lid, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the white can with the left arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Pick up the smooth white can with accents with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Lift the red-orange text on white can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the left arm to grab the can with sealed gold top, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Place the white can in the yellow basket and then use another arm to lift the yellow basket.", + "Pick the small white can with branding using the left arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Grab the beverage can with printed label, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Use the left arm to grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the can with rounded cylindrical shape, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Use the left arm to take the red-orange text on white can, drop it in the handheld basket, and lift the handheld basket.", + "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Take the smooth white can with accents, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the small white can with branding with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Lift the small white can with branding, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the white can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the can with gold top lid, place it in the yellow basket, pick up the yellow basket afterward.", + "Use the left arm to pick the can with red-orange text, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab and drop the small white can with branding in the rectangular yellow basket, lift the rectangular yellow basket.", + "Grab the red-orange text on white can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the left arm to grab the can with gold top lid and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the medium metal can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Grab the can with rounded cylindrical shape, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Take the smooth white can with accents with the left arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the left arm to grab the smooth white can with accents, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the red-orange text on white can, put it in the basket with black handle, then raise the basket with black handle.", + "Hold the red-orange text on white can using the left arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the medium metal can using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Lift the beverage can with printed label, drop it into the plastic basket, then carry the plastic basket.", + "Grab the can with red-orange text, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Take the white can with 3D RADY label and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the medium metal can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Pick up the can with red-orange text, put it in the basket with black handle, and lift the basket with black handle.", + "Drop the cylindrical white glossy can into the basket with arched black grip using the left arm, then lift the basket with arched black grip with another arm.", + "Grab the can with rounded cylindrical shape, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Grab the medium metal can, place it in the handheld basket, and lift the handheld basket upwards.", + "Use the same arm to grab the white can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the small white can with branding, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the white can with the left arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the cylindrical white glossy can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the can with rounded cylindrical shape, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the beverage can with printed label inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the cylindrical white glossy can, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the medium metal can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the can with red-orange text with the left arm, set it in the yellow basket, and lift with another arm.", + "Take the can with sealed gold top in the left arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the small white can with branding with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Take the can with sealed gold top, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick the medium metal can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the can with rounded cylindrical shape with the left arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Pick up the can with red-orange text with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Lift the white can with 3D RADY label, place it in the bright yellow basket, and raise the bright yellow basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Place the white can with 3D RADY label in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Pick the cylindrical white glossy can using the left arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the can with gold top lid, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Use the left arm to grab the can with rounded cylindrical shape, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the white can with 3D RADY label, put it in the handheld basket, and carry the handheld basket afterward.", + "Use the left arm to take the white can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with black handle and lift the basket with black handle.", + "Take the beverage can with printed label, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the can with rounded cylindrical shape with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the white can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick up the small white can with branding, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the can with red-orange text, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Use the left arm to pick the white can, place it inside the yellow basket, then lift the yellow basket.", + "Grab and drop the can with rounded cylindrical shape in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the smooth white can with accents, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the bright yellow basket, and lift the bright yellow basket." + ], + "unseen": [ + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the left arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..fd06c024a470769512b0138e8bf3948458d221d0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the green red metallic soda can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Take the red green beverage can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the metal can with pull-tab top with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Lift the metal can with pull-tab top, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Place the green red metallic soda can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.", + "Grab the metallic drink can with pull-tab, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Take the red green beverage can with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.", + "Use the left arm to grab the can with red green label and place in the brown basket, lift the brown basket with another arm.", + "Pick the drink can with bright colors with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the basket with handle, and elevate the basket with handle.", + "Pick the can with red green label, set it in the woven basket, and lift the woven basket upward.", + "Place the drink can with bright colors inside the basket for holding items, then lift the basket for holding items.", + "Pick up the soda can with lime illustration, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Grab and drop the smooth cylindrical can with lime pattern in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Grab the metal can with pull-tab top, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Use the left arm to grab the metallic drink can with pull-tab, place it in the basket with handle, and lift the basket with handle.", + "Place the can with red green label in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Take the green red metallic soda can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Use the left arm to hold the drink can with bright colors, drop the drink can with bright colors into the basket with loop handle, and lift the basket with loop handle.", + "Lift the red green beverage can with the left arm, set it in the basket with handle, and lift with another arm.", + "Lift the green red metallic soda can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the metal can with pull-tab top using the left arm, drop the metal can with pull-tab top into the basket with loop handle and lift the basket with loop handle.", + "Pick the small soda can with lime graphics, set it in the brown basket, then lift the brown basket.", + "Use the same arm to grab the drink can with bright colors, place in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the green red metallic soda can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Use the left arm for the can with red green label, place the can with red green label in the light brown oval basket, and lift the light brown oval basket.", + "Pick the metallic drink can with pull-tab using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the woven basket, then lift the woven basket.", + "Grab the small soda can with lime graphics, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Pick the red green beverage can with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Hold the can with red green label using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Take the small soda can with lime graphics in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Pick up the can with red green label, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Grab the metal can with pull-tab top, place it in the woven basket, and then lift the woven basket.", + "Lift the green red metallic soda can, place it in the basket with loop handle, and raise the basket with loop handle.", + "Use the left arm to take the smooth cylindrical can with lime pattern, drop it in the woven basket, and lift the woven basket.", + "Lift the drink can with bright colors, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.", + "Pick up the red green can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the red green can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Use the left arm to grab the metal can with pull-tab top, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Grab the metallic drink can with pull-tab, put it in the basket for carrying things, then raise the basket for carrying things.", + "Grab the smooth cylindrical can with lime pattern, set it into the basket for carrying things, then raise the basket for carrying things.", + "Use the left arm to pick the green red metallic soda can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Drop the can with red green label into the brown basket using the left arm, then lift the brown basket with another arm.", + "Pick up the colorful can with lime and orange design, put it in the woven basket, and lift the woven basket.", + "Grab the beverage can with red green graphics, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the left arm to grab the green red metallic soda can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Grab the colorful can with lime and orange design, drop it into the brown basket, and raise the brown basket with the other arm.", + "Pick the green red metallic soda can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the red green beverage can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Take the soda can with lime illustration, place it into the light brown oval basket, then lift the light brown oval basket.", + "Grab the can with red green label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the red green can, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.", + "Place the drink can with bright colors in the woven basket and then use another arm to lift the woven basket.", + "Grab the soda can with lime illustration, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Take the red green beverage can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Use the left arm to grab the red green can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Pick the metal can with pull-tab top with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Lift the red green beverage can, place it inside the basket with loop handle, and elevate the basket with loop handle.", + "Pick the can with red green label, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Place the smooth cylindrical can with lime pattern inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the smooth cylindrical can with lime pattern, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab and drop the red green can in the basket with loop handle, lift the basket with loop handle.", + "Grab the metallic drink can with pull-tab, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Use the left arm to grab the red green can, place it in the brown basket, and lift the brown basket.", + "Place the can with red green label in the basket for holding items and then lift the basket for holding items.", + "Take the small soda can with lime graphics, set it into the basket for holding items, and raise the basket for holding items.", + "Use the left arm to hold the metal can with pull-tab top, drop the metal can with pull-tab top into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the small soda can with lime graphics with the left arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Lift the soda can with lime illustration, set it in the basket for holding items, and elevate the basket for holding items.", + "Grab the green red metallic soda can using the left arm, drop the green red metallic soda can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick the red green can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the beverage can with red green graphics using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the left arm for the small soda can with lime graphics, place the small soda can with lime graphics in the basket with loop handle, and lift the basket with loop handle.", + "Pick the soda can with lime illustration using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick up the can with red green label, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the smooth cylindrical can with lime pattern, drop it into the basket for holding items, and raise the basket for holding items.", + "Pick the green red metallic soda can with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Hold the soda can with lime illustration using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the red green can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.", + "Pick up the green red metallic soda can, place it in the basket for holding items, and then lift the basket for holding items.", + "Grab the can with red green label, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the beverage can with red green graphics, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Use the left arm to take the metal can with pull-tab top, drop it in the basket for holding items, and lift the basket for holding items.", + "Lift the green red metallic soda can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Pick up the drink can with bright colors, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Take the red green can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the metallic drink can with pull-tab, place it in the basket for carrying things, pick up the basket for carrying things afterward.", + "Use the left arm to grab the beverage can with red green graphics, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Grab the metal can with pull-tab top, put it in the basket with loop handle, then raise the basket with loop handle.", + "Grab the colorful can with lime and orange design, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the left arm to pick the drink can with bright colors, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Drop the small soda can with lime graphics into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.", + "Pick up the can with red green label, put it in the basket for holding items, and lift the basket for holding items.", + "Grab the drink can with bright colors, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Use the left arm to grab the can with red green label, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Grab the red green can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Pick the smooth cylindrical can with lime pattern with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm." + ], + "unseen": [ + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the cylindrical can with smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the cylindrical can with bright colors, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the hand-sized can with metallic finish, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the hand-sized can with metallic finish, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the cylindrical can with bright colors, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with bright colors and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, place it into the basket with rounded edges, and lift the basket.", + "Use the left arm to grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the hand-sized can with metallic finish, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the cylindrical can with smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket.", + "Use the left arm to grab the cylindrical can with bright colors, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the cylindrical can with bright colors, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the hand-sized can with metallic finish, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with bright colors and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the cylindrical can with bright colors, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the cylindrical can with bright colors, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the oval basket with medium storage space, and lift the basket.", + "Use the left arm to grab the hand-sized can with metallic finish, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to pick the hand-sized can with metallic finish, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the cylindrical can with bright colors, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the cylindrical can with bright colors, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the cylindrical can with smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the hand-sized can with metallic finish, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the hand-sized can with metallic finish, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to pick the cylindrical can with bright colors, place it into the medium basket with smooth texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..b73b6e68f6a02ad6cf72ba021ec70a16b557f1d0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the small light brown cylindrical can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick the metal can with white decorative designs, set it in the yellow basket, and lift the yellow basket upward.", + "Use the left arm to pick the metal can with white decorative designs, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the light brown can with smooth texture with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the brown can, place it in the yellow basket, pick up the yellow basket afterward.", + "Take the rounded metallic can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the drink can with light brown shade, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick the metal can with printed white graphics using the left arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Lift the hand-sized metallic can, place it in the basket with black handle, and raise the basket with black handle.", + "Pick the smooth brown can with rounded edges, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the small cylindrical drink container, put it into the handheld basket, and lift the handheld basket.", + "Lift the light brown can with smooth texture, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Use the left arm to take the small cylindrical drink container, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the left arm to grab the small light brown cylindrical can and place in the yellow basket, lift the yellow basket with another arm.", + "Drop the small cylindrical drink container into the basket with black handle using the left arm, then lift the basket with black handle with another arm.", + "Grab the small light brown cylindrical can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the light brown can with smooth texture, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Grab the drink can with light brown shade, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Place the small light brown cylindrical can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the left arm for the hand-sized metallic can, place the hand-sized metallic can in the bright yellow basket, and lift the bright yellow basket.", + "Lift the smooth brown can with rounded edges, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Hold the rounded metallic can using the left arm, place it in the yellow basket, and lift the yellow basket.", + "Pick up the light brown can with smooth texture with the left arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Place the small cylindrical drink container in the basket with perforated sides and then lift the basket with perforated sides.", + "Grab the small cylindrical drink container, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Place the metal can with printed white graphics in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Grab the light brown can with smooth texture, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Use the left arm to grab the smooth brown can with rounded edges, put it into the plastic basket, and lift the plastic basket with another arm.", + "Use the left arm to hold the brown can, drop the brown can into the handheld basket, and lift the handheld basket.", + "Take the brown can with the left arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick the brown can with the left arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the small cylindrical drink container with the left arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the small light brown cylindrical can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Pick up the light brown can with smooth texture, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the light brown can with smooth texture using the left arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the same arm to grab the light brown can with smooth texture, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the metal can with printed white graphics with the left arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick up the rounded metallic can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Take the metal can with printed white graphics and put it in the plastic basket, then lift the plastic basket.", + "Lift the metal can with printed white graphics with the left arm, set it in the basket with black handle, and lift with another arm.", + "Grab the hand-sized metallic can using the left arm, drop the hand-sized metallic can into the basket with black handle and lift the basket with black handle.", + "Grab and drop the small light brown cylindrical can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Take the smooth light brown can in the left arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Grab the smooth light brown can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the left arm to grab the hand-sized metallic can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the drink can with light brown shade, put it in the plastic basket, and lift the plastic basket.", + "Take the small light brown cylindrical can, set it into the handheld basket, and raise the handheld basket.", + "Pick up the white patterned brown metal can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the smooth light brown can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the brown can, set it in the plastic basket, and elevate the plastic basket.", + "Use the left arm to grab the smooth light brown can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Pick the smooth brown can with rounded edges, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Use the left arm to pick the small cylindrical drink container, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the light brown can with smooth texture with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the light brown can with smooth texture, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Take the small cylindrical drink container, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the metal can with white decorative designs, set it into the plastic basket, then raise the plastic basket.", + "Pick the light brown can with smooth texture using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the metal can with printed white graphics, place it in the handheld basket, and raise the handheld basket.", + "Pick the hand-sized metallic can, set it in the basket with black handle, then lift the basket with black handle.", + "Pick up the rounded metallic can, put it into the plastic basket, and lift the plastic basket.", + "Lift the rounded metallic can, drop it into the basket with black handle, then carry the basket with black handle.", + "Use the left arm to take the white patterned brown metal can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the left arm to grab the drink can with light brown shade and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Drop the light brown can with smooth texture into the basket with arched black grip using the left arm, then lift the basket with arched black grip with another arm.", + "Grab the brown can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the drink can with light brown shade, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the metal can with white decorative designs, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Place the smooth brown can with rounded edges inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the left arm for the drink can with light brown shade, place the drink can with light brown shade in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the white patterned brown metal can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Hold the drink can with light brown shade using the left arm, place it in the handheld basket, and lift the handheld basket.", + "Pick up the smooth brown can with rounded edges with the left arm, place into the yellow basket, the other arm raises the yellow basket.", + "Place the brown can in the handheld basket and then lift the handheld basket.", + "Grab the white patterned brown metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Place the smooth brown can with rounded edges in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Grab the small light brown cylindrical can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Use the left arm to grab the metal can with white decorative designs, put it into the plastic basket, and lift the plastic basket with another arm.", + "Use the left arm to hold the white patterned brown metal can, drop the white patterned brown metal can into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the smooth light brown can with the left arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the hand-sized metallic can with the left arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the hand-sized metallic can with the left arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the rounded metallic can, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Pick up the rounded metallic can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the drink can with light brown shade using the left arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the same arm to grab the metal can with white decorative designs, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick the light brown can with smooth texture with the left arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick up the metal can with white decorative designs, place it in the basket with black handle, and then lift the basket with black handle.", + "Take the metal can with printed white graphics and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the metal can with white decorative designs with the left arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the rounded metallic can using the left arm, drop the rounded metallic can into the yellow basket and lift the yellow basket.", + "Grab and drop the small light brown cylindrical can in the basket with arched black grip, lift the basket with arched black grip.", + "Take the rounded metallic can in the left arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab the rounded metallic can, put it in the plastic basket, then raise the plastic basket.", + "Use the left arm to grab the smooth brown can with rounded edges, place it in the handheld basket, and lift the handheld basket.", + "Pick up the metal can with printed white graphics, put it in the yellow basket, and lift the yellow basket.", + "Take the hand-sized metallic can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the rounded metallic can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the smooth light brown can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Lift the rounded metallic can, set it in the handheld basket, and elevate the handheld basket." + ], + "unseen": [ + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the left arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the left arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the left arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the left arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the left arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the left arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the left arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..852934df7c476e7d2879eb246504ccfed38f301c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red shiny can with green label with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Take the metal can with red base with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to pick the metal can with red base, place it inside the handheld basket, then lift the handheld basket.", + "Grab the smooth red can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick up the medium-sized soda can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the red and white beverage can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Grab the red shiny can with green label using the right arm, drop the red shiny can with green label into the basket with arched black grip and lift the basket with arched black grip.", + "Place the cylindrical can with flat surfaces in the basket with arched black grip and then lift the basket with arched black grip.", + "Lift the red soda can with green accents, place it in the yellow basket, and raise the yellow basket.", + "Pick the smooth red can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the red shiny can with green label, drop it into the plastic basket, then use another arm for the plastic basket.", + "Use the right arm to take the red and white beverage can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Take the cylindrical metal can, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the cylindrical metal can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Take the medium-sized soda can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Pick the cylindrical can with flat surfaces, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the red shiny can with green label, set it inside the plastic basket, then lift the plastic basket.", + "Grab the medium-sized soda can, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab and drop the metal can with red base in the basket with arched black grip, lift the basket with arched black grip.", + "Grab the red drink can with white lid, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Drop the red soda can with green accents into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Lift the cylindrical metal can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Lift the cylindrical metal can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Hold the red and white beverage can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the red can with decorative label inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the red drink can with white lid in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Lift the red and white beverage can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Use the right arm to grab the smooth red can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick up the can with flat silver bottom using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the cylindrical metal can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the cylindrical metal can, put it in the plastic basket, then raise the plastic basket.", + "Pick up the red shiny can with green label, place it in the plastic basket, and then lift the plastic basket.", + "Pick up the red soda can with green accents, put it in the handheld basket, and lift the handheld basket.", + "Use the same arm to grab the medium-sized soda can, place in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the red and white beverage can, place it in the yellow basket, and lift the yellow basket.", + "Take the smooth red can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the cylindrical metal can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the red shiny can with green label, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the right arm to hold the can with flat silver bottom, drop the can with flat silver bottom into the yellow basket, and lift the yellow basket.", + "Take the red shiny can with green label, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the red and white beverage can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick up the drink can with smooth red finish, place it into the handheld basket, then lift the handheld basket.", + "Pick up the red shiny can with green label, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the red shiny can with green label with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the red drink can with white lid, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick the red can with decorative label with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the metal can with red base, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Lift the cylindrical can with flat surfaces, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick the cylindrical metal can with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Take the red drink can with white lid with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to pick the smooth red can, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the red can with decorative label, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the metal can with red base with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the can with flat silver bottom, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Grab the cylindrical metal can using the right arm, drop the cylindrical metal can into the yellow basket and lift the yellow basket.", + "Place the red soda can with green accents in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Lift the cylindrical can with flat surfaces, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the can with flat silver bottom with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the medium-sized soda can, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Use the right arm to take the red drink can with white lid, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the cylindrical can with flat surfaces, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the medium-sized soda can and place in the handheld basket, lift the handheld basket with another arm.", + "Take the drink can with smooth red finish and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the red drink can with white lid, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the drink can with smooth red finish, set it inside the yellow basket, then lift the yellow basket.", + "Grab the red drink can with white lid, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Grab and drop the red can with decorative label in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the smooth red can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Drop the cylindrical metal can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Lift the cylindrical metal can with the right arm, set it in the handheld basket, and lift with another arm.", + "Lift the metal can with red base, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Hold the can with flat silver bottom using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the red soda can with green accents inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the metal can with red base in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the can with flat silver bottom, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Use the right arm to grab the red soda can with green accents, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick up the red shiny can with green label using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the cylindrical metal can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the medium-sized soda can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Pick up the drink can with smooth red finish, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the red and white beverage can, put it in the plastic basket, and lift the plastic basket.", + "Use the same arm to grab the drink can with smooth red finish, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to grab the smooth red can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the metal can with red base in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Use the right arm for the drink can with smooth red finish, place the drink can with smooth red finish in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red can with decorative label using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Lift the metal can with red base, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the right arm to grab the drink can with smooth red finish, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Use the right arm to hold the red soda can with green accents, drop the red soda can with green accents into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metal can with red base, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the drink can with smooth red finish, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the red shiny can with green label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the cylindrical can with flat surfaces, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the red and white beverage can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the cylindrical metal can, set it in the yellow basket, and lift the yellow basket upward.", + "Pick the metal can with red base with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the cylindrical metal can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Lift the can with flat silver bottom, set it in the yellow basket, and elevate the yellow basket." + ], + "unseen": [ + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..88853419d4a461f87b0aca6e88203db1e9021374 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical white glossy can, set it in the basket with handle, and lift the basket with handle upward.", + "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket, lift the brown basket with another arm.", + "Pick up the smooth white can with accents, place it into the basket with loop handle, then lift the basket with loop handle.", + "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket for holding items, and lift the basket for holding items.", + "Lift the white can, place it inside the brown basket, and elevate the brown basket.", + "Place the smooth white can with accents in the basket with handle and then lift the basket with handle.", + "Grab the can with sealed gold top, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Take the can with gold top lid and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Pick up the medium metal can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the basket with loop handle and lift the basket with loop handle.", + "Grab the can with rounded cylindrical shape with the left arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Lift the can with rounded cylindrical shape, place it in the light brown oval basket, pick up the light brown oval basket afterward.", + "Pick up the white can with 3D RADY label, put it in the brown basket, and lift the brown basket.", + "Grab and drop the smooth white can with accents in the brown basket with woven ridges, lift the brown basket with woven ridges.", + "Pick up the medium metal can, set it inside the brown basket, then lift the brown basket.", + "Use the left arm to grab the can with rounded cylindrical shape, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Use the left arm to pick the white can, place it inside the woven basket, then lift the woven basket.", + "Take the can with rounded cylindrical shape in the left arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Pick the cylindrical white glossy can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Lift the small white can with branding, put it in the brown basket, and carry the brown basket afterward.", + "Pick the white can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Grab the beverage can with printed label, set it into the light brown oval basket, then raise the light brown oval basket.", + "Take the can with gold top lid, set it into the basket with handle, and raise the basket with handle.", + "Grab the beverage can with printed label, drop it into the basket for holding items, then use another arm for the basket for holding items.", + "Pick the smooth white can with accents using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Grab the can with rounded cylindrical shape, drop it into the basket with loop handle, and raise the basket with loop handle.", + "Grab the medium metal can, place it in the basket with handle, and then lift the basket with handle.", + "Take the beverage can with printed label with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Drop the red-orange text on white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.", + "Use the same arm to grab the can with red-orange text, place in the basket for holding items, and then lift the basket for holding items.", + "Lift the small white can with branding, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the can with red-orange text, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the can with sealed gold top with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Lift the can with sealed gold top, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Pick up the can with sealed gold top, put it into the basket for holding items, and lift the basket for holding items.", + "Use the left arm to grab the medium metal can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Pick the smooth white can with accents with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Lift the white can with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Take the white can with 3D RADY label, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the basket with loop handle, and lift the basket with loop handle.", + "Place the beverage can with printed label inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Grab the can with rounded cylindrical shape, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.", + "Hold the white can using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab the red-orange text on white can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Use the left arm to take the white can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the left arm to grab the can with gold top lid, place it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the white can, drop it into the basket for holding items, then carry the basket for holding items.", + "Place the small white can with branding in the brown basket and then use another arm to lift the brown basket.", + "Pick the can with gold top lid, set it in the basket for holding items, then lift the basket for holding items.", + "Grab the can with rounded cylindrical shape, place it in the basket with handle, and lift the basket with handle upwards.", + "Pick the small white can with branding, set it in the woven basket, and lift the woven basket upward.", + "Use the left arm to grab the white can with 3D RADY label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Pick up the smooth white can with accents, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with handle, and lift the basket with handle.", + "Lift the cylindrical white glossy can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Place the white can with 3D RADY label in the brown basket with woven ridges and then lift the brown basket with woven ridges.", + "Grab the smooth white can with accents, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.", + "Take the cylindrical white glossy can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the white can with 3D RADY label using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket made of woven wood and lift the basket made of woven wood.", + "Grab the smooth white can with accents with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Lift the can with rounded cylindrical shape, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Pick up the small white can with branding, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Grab and drop the medium metal can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.", + "Pick up the red-orange text on white can, set it inside the light brown oval basket, then lift the light brown oval basket.", + "Use the left arm to grab the medium metal can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.", + "Use the left arm to pick the can with rounded cylindrical shape, place it inside the woven basket, then lift the woven basket.", + "Take the white can with 3D RADY label in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Pick the can with rounded cylindrical shape with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.", + "Lift the can with gold top lid, put it in the basket with handle, and carry the basket with handle afterward.", + "Pick the can with rounded cylindrical shape with the left arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab the can with gold top lid, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Take the small white can with branding, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the medium metal can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Pick the red-orange text on white can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the can with sealed gold top, drop it into the basket for holding items, and raise the basket for holding items.", + "Grab the small white can with branding, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Take the medium metal can with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Drop the can with rounded cylindrical shape into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the basket with handle, and then lift the basket with handle.", + "Lift the small white can with branding, set it in the basket with handle, and elevate the basket with handle.", + "Pick up the can with rounded cylindrical shape, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick up the cylindrical white glossy can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Lift the can with sealed gold top, place it in the brown basket, and raise the brown basket.", + "Pick up the small white can with branding, put it into the brown basket, and lift the brown basket.", + "Use the left arm to grab the white can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the beverage can with printed label with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the can with rounded cylindrical shape with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.", + "Take the can with red-orange text, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the left arm for the can with gold top lid, place the can with gold top lid in the basket made of woven wood, and lift the basket made of woven wood.", + "Place the medium metal can inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the medium metal can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Hold the cylindrical white glossy can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the can with sealed gold top, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the left arm to take the white can with 3D RADY label, drop it in the basket with handle, and lift the basket with handle.", + "Use the left arm to grab the red-orange text on white can, place it in the basket for carrying things, and lift the basket for carrying things.", + "Lift the can with sealed gold top, drop it into the basket for holding items, then carry the basket for holding items.", + "Place the can with rounded cylindrical shape in the brown basket and then use another arm to lift the brown basket.", + "Pick the can with rounded cylindrical shape, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards." + ], + "unseen": [ + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..3260043fb9de52b8275e6e41f9282727ae6af776 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white can, set it inside the woven basket, then lift the woven basket.", + "Pick the white can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the can with gold top lid with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Use the right arm to take the white can with 3D RADY label, drop it in the light brown oval basket, and lift the light brown oval basket.", + "Pick the medium metal can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the medium metal can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Lift the can with sealed gold top, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Pick up the can with gold top lid using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Take the white can and put it in the basket with handle, then lift the basket with handle.", + "Pick the white can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Take the white can, set it into the basket with handle, and raise the basket with handle.", + "Grab the can with sealed gold top using the right arm, drop the can with sealed gold top into the basket for holding items and lift the basket for holding items.", + "Lift the medium metal can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.", + "Grab the red-orange text on white can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Lift the smooth white can with accents, place it in the woven basket, and raise the woven basket.", + "Pick the can with red-orange text, set it in the woven basket, then lift the woven basket.", + "Grab the medium metal can, place it in the basket for holding items, and lift the basket for holding items upwards.", + "Use the right arm to grab the white can with 3D RADY label, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Use the same arm to grab the red-orange text on white can, place in the brown basket, and then lift the brown basket.", + "Pick up the red-orange text on white can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the beverage can with printed label using the right arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Lift the white can with 3D RADY label, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Place the can with rounded cylindrical shape in the basket with handle and then lift the basket with handle.", + "Use the right arm to grab the medium metal can and place in the brown basket, lift the brown basket with another arm.", + "Drop the white can with 3D RADY label into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Place the white can inside the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm for the can with red-orange text, place the can with red-orange text in the basket with handle, and lift the basket with handle.", + "Pick up the can with red-orange text with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the can with red-orange text, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Lift the red-orange text on white can with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Pick up the beverage can with printed label, place it in the basket for carrying things, and then lift the basket for carrying things.", + "Grab and drop the beverage can with printed label in the basket for holding items, lift the basket for holding items.", + "Take the white can in the right arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.", + "Place the smooth white can with accents in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Take the cylindrical white glossy can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the cylindrical white glossy can, drop it into the basket for holding items, and raise the basket for holding items.", + "Grab the beverage can with printed label with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Grab the smooth white can with accents, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.", + "Use the right arm to grab the white can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Grab the small white can with branding, set it into the basket with loop handle, then raise the basket with loop handle.", + "Grab the beverage can with printed label, place it in the basket for holding items, and then lift the basket for holding items.", + "Use the right arm to grab the white can, place it in the light brown oval basket, and lift the light brown oval basket.", + "Use the right arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Hold the can with red-orange text using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the cylindrical white glossy can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick up the medium metal can, put it into the woven basket, and lift the woven basket.", + "Use the right arm to pick the can with gold top lid, place it inside the basket with loop handle, then lift the basket with loop handle.", + "Lift the can with sealed gold top, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Take the can with rounded cylindrical shape, place it into the basket for holding items, then lift the basket for holding items.", + "Lift the can with sealed gold top, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Pick up the can with sealed gold top, set it inside the basket for holding items, then lift the basket for holding items.", + "Pick the beverage can with printed label with the right arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Pick the beverage can with printed label with the right arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Use the right arm to take the can with sealed gold top, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick the can with gold top lid with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the can with red-orange text, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Lift the medium metal can, drop it into the basket made of woven wood, then carry the basket made of woven wood.", + "Pick up the white can with 3D RADY label using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Take the beverage can with printed label and put it in the basket with handle, then lift the basket with handle.", + "Pick the can with rounded cylindrical shape, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Take the medium metal can, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the basket with loop handle and lift the basket with loop handle.", + "Lift the can with sealed gold top, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Grab the white can, put it in the light brown oval basket, then raise the light brown oval basket.", + "Lift the can with gold top lid, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Pick the medium metal can, set it in the woven basket, then lift the woven basket.", + "Grab the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.", + "Use the right arm to grab the can with sealed gold top, place it into the brown basket, and lift the brown basket using the other arm.", + "Use the same arm to grab the white can, place in the basket for holding items, and then lift the basket for holding items.", + "Pick up the cylindrical white glossy can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the small white can with branding using the right arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Lift the can with sealed gold top, set it in the basket with handle, and elevate the basket with handle.", + "Place the medium metal can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Use the right arm to grab the beverage can with printed label and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Drop the white can with 3D RADY label into the brown basket with woven ridges using the right arm, then lift the brown basket with woven ridges with another arm.", + "Place the can with rounded cylindrical shape inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the basket with handle, and lift the basket with handle.", + "Pick up the smooth white can with accents with the right arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab the white can with 3D RADY label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Lift the can with rounded cylindrical shape with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Pick up the can with gold top lid, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Grab and drop the can with gold top lid in the brown basket, lift the brown basket.", + "Take the small white can with branding in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Place the can with rounded cylindrical shape in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.", + "Take the can with sealed gold top with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Grab the white can with 3D RADY label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the beverage can with printed label with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Use the right arm to grab the can with sealed gold top, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Grab the beverage can with printed label, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Grab the can with gold top lid, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Use the right arm to grab the red-orange text on white can, place it in the brown basket, and lift the brown basket.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Hold the red-orange text on white can using the right arm, place it in the light brown oval basket, and lift the light brown oval basket.", + "Pick up the medium metal can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the cylindrical white glossy can, put it into the basket with loop handle, and lift the basket with loop handle.", + "Use the right arm to pick the can with red-orange text, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the can with rounded cylindrical shape, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Take the medium metal can, place it into the basket with handle, then lift the basket with handle.", + "Lift the smooth white can with accents, place it inside the basket for carrying things, and elevate the basket for carrying things." + ], + "unseen": [ + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..82b3f43c42da43879c44e3738d0f4c134bb2c1e3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the can with sealed gold top, place it in the brown basket, and lift the brown basket.", + "Grab the can with red-orange text using the right arm, drop the can with red-orange text into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Take the cylindrical white glossy can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the can with sealed gold top with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Pick the white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.", + "Grab the beverage can with printed label, set it into the woven basket, then raise the woven basket.", + "Pick the beverage can with printed label with the right arm, drop it in the brown basket, lift the brown basket with another arm.", + "Grab and drop the can with red-orange text in the basket made of woven wood, lift the basket made of woven wood.", + "Grab the can with sealed gold top, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Place the can with rounded cylindrical shape in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Pick up the can with sealed gold top, put it in the brown basket, and lift the brown basket.", + "Drop the white can with 3D RADY label into the wooden basket with curved handle using the right arm, then lift the wooden basket with curved handle with another arm.", + "Lift the red-orange text on white can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Take the white can with the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Grab the cylindrical white glossy can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.", + "Lift the can with red-orange text, drop it into the basket for holding items, then carry the basket for holding items.", + "Grab the white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick up the smooth white can with accents, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Place the can with rounded cylindrical shape inside the basket with handle, then lift the basket with handle.", + "Pick up the white can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Take the can with gold top lid and put it in the brown basket, then lift the brown basket.", + "Pick up the can with sealed gold top, place it in the woven basket, and then lift the woven basket.", + "Pick the can with rounded cylindrical shape, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Grab the white can, place it in the brown basket, and then lift the brown basket.", + "Hold the medium metal can using the right arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the brown basket, and then lift the brown basket.", + "Lift the can with red-orange text, place it in the brown basket, and raise the brown basket.", + "Pick up the cylindrical white glossy can, put it into the brown basket, and lift the brown basket.", + "Pick up the beverage can with printed label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick the can with sealed gold top, set it in the basket with handle, then lift the basket with handle.", + "Use the right arm to take the red-orange text on white can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the white can with 3D RADY label, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Take the white can with 3D RADY label in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Lift the can with red-orange text with the right arm, set it in the basket made of woven wood, and lift with another arm.", + "Use the right arm to grab the can with gold top lid, put it into the basket for carrying things, and lift the basket for carrying things with another arm.", + "Pick up the cylindrical white glossy can using the right arm, drop it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm to grab the small white can with branding and place in the brown basket, lift the brown basket with another arm.", + "Grab the white can with 3D RADY label, put it in the basket made of woven wood, then raise the basket made of woven wood.", + "Take the can with gold top lid, set it into the basket with loop handle, and raise the basket with loop handle.", + "Lift the can with rounded cylindrical shape, place it in the woven basket, pick up the woven basket afterward.", + "Use the right arm for the small white can with branding, place the small white can with branding in the basket for carrying things, and lift the basket for carrying things.", + "Place the white can with 3D RADY label in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.", + "Grab the medium metal can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the right arm to grab the can with sealed gold top, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Grab the medium metal can, place it in the basket with loop handle, and lift the basket with loop handle upwards.", + "Grab the beverage can with printed label, drop it into the basket for holding items, and raise the basket for holding items.", + "Lift the smooth white can with accents, place it inside the light brown oval basket, and elevate the light brown oval basket.", + "Use the right arm to pick the white can, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the brown basket, and lift the brown basket.", + "Pick the can with red-orange text using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm to grab the beverage can with printed label, place it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the cylindrical white glossy can using the right arm, drop the cylindrical white glossy can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Take the smooth white can with accents, place it into the brown basket, then lift the brown basket.", + "Pick the white can with 3D RADY label with the right arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick the white can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the can with red-orange text, set it into the basket for carrying things, then raise the basket for carrying things.", + "Pick the white can with 3D RADY label with the right arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Grab and drop the can with rounded cylindrical shape in the basket with handle, lift the basket with handle.", + "Grab the can with red-orange text, place it in the woven basket, and raise the woven basket using the other arm.", + "Place the beverage can with printed label in the woven basket and then use another arm to lift the woven basket.", + "Pick up the can with gold top lid, put it in the light brown oval basket, and lift the light brown oval basket.", + "Drop the smooth white can with accents into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Lift the red-orange text on white can, set it in the brown basket, and elevate the brown basket.", + "Take the beverage can with printed label with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Grab the white can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.", + "Lift the small white can with branding, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.", + "Grab the beverage can with printed label, drop it into the woven basket, and raise the woven basket with the other arm.", + "Pick up the smooth white can with accents, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Place the small white can with branding inside the basket with loop handle, then lift the basket with loop handle.", + "Pick up the red-orange text on white can with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Take the cylindrical white glossy can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick up the smooth white can with accents, place it in the brown basket, and then lift the brown basket.", + "Pick the beverage can with printed label, set it in the brown basket, and lift the brown basket upward.", + "Grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Hold the can with red-orange text using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the same arm to grab the can with red-orange text, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Lift the white can with 3D RADY label, place it in the basket for holding items, and raise the basket for holding items.", + "Pick up the beverage can with printed label, put it into the light brown oval basket, and lift the light brown oval basket.", + "Pick up the white can with 3D RADY label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the small white can with branding, set it in the basket with handle, then lift the basket with handle.", + "Use the right arm to take the medium metal can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the smooth white can with accents, put it in the basket with handle, and carry the basket with handle afterward.", + "Take the white can in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.", + "Lift the red-orange text on white can with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Use the right arm to grab the cylindrical white glossy can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.", + "Pick up the beverage can with printed label using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Use the right arm to grab the cylindrical white glossy can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Grab the can with gold top lid, put it in the basket with loop handle, then raise the basket with loop handle.", + "Take the white can with 3D RADY label, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the red-orange text on white can, place it in the basket with handle, pick up the basket with handle afterward.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the light brown oval basket, and lift the light brown oval basket.", + "Place the can with gold top lid in the basket for holding items and then lift the basket for holding items.", + "Grab the medium metal can with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Use the right arm to grab the white can with 3D RADY label, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Grab the white can with 3D RADY label, place it in the brown basket, and lift the brown basket upwards.", + "Grab the can with red-orange text, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Lift the smooth white can with accents, place it inside the basket for carrying things, and elevate the basket for carrying things.", + "Use the right arm to pick the white can with 3D RADY label, place it inside the woven basket, then lift the woven basket.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick the can with gold top lid using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm." + ], + "unseen": [ + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..38bbb2334638c075acfd27ca4ccdb09068cbf1af --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the red can with smooth metallic texture, set it into the basket for carrying things, and raise the basket for carrying things.", + "Grab the hand-sized red can for drinks, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Lift the red cylindrical can with silver top, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the red can with white lettering, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Grab the cylindrical red drink can with logo, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the small aluminum red drink can using the right arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.", + "Take the hand-sized red can for drinks, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to hold the Coca-Cola soda can, drop the Coca-Cola soda can into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the red can with white Coca-Cola logo, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Lift the red cylindrical can with silver top, set it in the light brown oval basket, and elevate the light brown oval basket.", + "Use the right arm to grab the rounded red Coca-Cola soda container, place it into the basket for holding items, and lift the basket for holding items using the other arm.", + "Use the right arm to pick the red can with white Coca-Cola logo, place it inside the brown basket, then lift the brown basket.", + "Use the right arm to grab the Coca-Cola soda can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Take the rounded red Coca-Cola soda container in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Use the right arm to take the small aluminum red drink can, drop it in the basket for holding items, and lift the basket for holding items.", + "Lift the Coca-Cola can, place it in the basket for holding items, and raise the basket for holding items.", + "Lift the red can with white Coca-Cola logo, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Grab the metallic red beverage can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.", + "Pick the Coca-Cola soda can using the right arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Drop the rounded red Coca-Cola soda container into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Use the right arm to grab the Coca-Cola can, put it into the basket with handle, and lift the basket with handle with another arm.", + "Pick the red can with smooth metallic texture, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Grab the hand-sized red can for drinks with the right arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Take the rounded red Coca-Cola soda container and put it in the basket for carrying things, then lift the basket for carrying things.", + "Lift the hand-sized red can for drinks with the right arm, set it in the woven basket, and lift with another arm.", + "Use the same arm to grab the red can with white lettering, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab and drop the red can with smooth metallic texture in the brown basket, lift the brown basket.", + "Place the cylindrical red drink can with logo inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the metallic red beverage can, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the small aluminum red drink can, drop it into the brown basket, then carry the brown basket.", + "Pick the small aluminum red drink can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the red can with smooth metallic texture, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Pick up the Coca-Cola can with the right arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Place the smooth red can with silver bottom in the basket with handle and then lift the basket with handle.", + "Hold the red can with white Coca-Cola logo using the right arm, place it in the basket with loop handle, and lift the basket with loop handle.", + "Pick the red can with white Coca-Cola logo with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Place the hand-sized red can for drinks in the basket with handle and then use another arm to lift the basket with handle.", + "Pick up the red can with white Coca-Cola logo, place it into the basket for holding items, then lift the basket for holding items.", + "Grab the red cylindrical can with silver top, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Pick the small aluminum red drink can, set it in the woven basket, then lift the woven basket.", + "Pick up the Coca-Cola can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the hand-sized red can for drinks, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.", + "Take the Coca-Cola soda can with the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the small aluminum red drink can using the right arm, drop the small aluminum red drink can into the basket with loop handle and lift the basket with loop handle.", + "Use the right arm to grab the cylindrical red drink can with logo, place it in the basket with handle, and lift the basket with handle.", + "Pick up the red cylindrical can with silver top, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Lift the red can with white lettering, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.", + "Pick the Coca-Cola soda can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Grab the small aluminum red drink can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Take the rounded red Coca-Cola soda container, set it into the basket with handle, and raise the basket with handle.", + "Grab the red can with white Coca-Cola logo, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Lift the red cylindrical can with silver top, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Grab the small aluminum red drink can, put it in the basket for holding items, then raise the basket for holding items.", + "Grab the Coca-Cola soda can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the rounded red Coca-Cola soda container using the right arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Take the smooth red can with silver bottom, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the basket with handle, and lift the basket with handle.", + "Pick up the rounded red Coca-Cola soda container, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the red can with white lettering, set it in the basket for holding items, and elevate the basket for holding items.", + "Use the right arm to grab the red can with white lettering, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Use the right arm to pick the cylindrical red drink can with logo, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Use the right arm to grab the Coca-Cola soda can and place in the woven basket, lift the woven basket with another arm.", + "Take the smooth red can with silver bottom in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Lift the red can with white lettering, place it in the basket with loop handle, and raise the basket with loop handle.", + "Lift the cylindrical red drink can with logo, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Grab the metallic red beverage can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Pick the smooth red can with silver bottom using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.", + "Drop the cylindrical red drink can with logo into the woven basket using the right arm, then lift the woven basket with another arm.", + "Use the right arm to grab the red can with smooth metallic texture, put it into the basket for holding items, and lift the basket for holding items with another arm.", + "Pick the metallic red beverage can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.", + "Grab the red can with white Coca-Cola logo with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Take the red cylindrical can with silver top and put it in the basket for holding items, then lift the basket for holding items.", + "Lift the hand-sized red can for drinks with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Use the same arm to grab the red cylindrical can with silver top, place in the woven basket, and then lift the woven basket.", + "Grab and drop the red can with white Coca-Cola logo in the basket with loop handle, lift the basket with loop handle.", + "Place the red can with smooth metallic texture inside the basket with handle, then lift the basket with handle.", + "Pick up the smooth red can with silver bottom, place it in the woven basket, and then lift the woven basket.", + "Lift the Coca-Cola soda can, drop it into the woven basket, then carry the woven basket.", + "Pick the smooth red can with silver bottom with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the cylindrical red drink can with logo, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Pick up the Coca-Cola soda can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Place the red cylindrical can with silver top in the woven basket and then lift the woven basket.", + "Hold the red cylindrical can with silver top using the right arm, place it in the basket for holding items, and lift the basket for holding items.", + "Pick the red cylindrical can with silver top with the right arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.", + "Place the cylindrical red drink can with logo in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Pick up the hand-sized red can for drinks, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the small aluminum red drink can, drop it into the brown basket, and raise the brown basket.", + "Pick the smooth red can with silver bottom, set it in the basket with handle, then lift the basket with handle.", + "Pick up the cylindrical red drink can with logo, put it into the basket for carrying things, and lift the basket for carrying things.", + "Grab the red can with white Coca-Cola logo, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Take the rounded red Coca-Cola soda container with the right arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Grab the red can with white lettering using the right arm, drop the red can with white lettering into the basket with handle and lift the basket with handle.", + "Use the right arm to grab the Coca-Cola soda can, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Pick up the Coca-Cola soda can, put it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the Coca-Cola soda can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Pick the Coca-Cola can with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Grab the Coca-Cola can, set it into the woven basket, then raise the woven basket." + ], + "unseen": [ + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the small red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..37efeedb06c3e3c44b9b869d7f894a85705ee17d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium metal can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Take the red-orange text on white can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the can with gold top lid, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Grab the smooth white can with accents, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the same arm to grab the can with sealed gold top, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to take the can with gold top lid, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm for the small white can with branding, place the small white can with branding in the bright yellow basket, and lift the bright yellow basket.", + "Lift the can with sealed gold top, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick the can with gold top lid with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the cylindrical white glossy can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Take the can with red-orange text, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick up the white can with 3D RADY label with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Use the right arm to pick the can with sealed gold top, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red-orange text on white can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the white can with 3D RADY label, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the white can with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the medium metal can, drop it into the yellow basket, and raise the yellow basket.", + "Grab the white can with 3D RADY label with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the small white can with branding, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the medium metal can using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the white can with 3D RADY label inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the white can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the can with gold top lid in the basket with black handle and then lift the basket with black handle.", + "Place the can with gold top lid in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Drop the medium metal can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Take the small white can with branding in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Grab and drop the medium metal can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Take the can with sealed gold top, place it into the basket with black handle, then lift the basket with black handle.", + "Hold the can with sealed gold top using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the can with red-orange text using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the white can with 3D RADY label with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the small white can with branding, put it in the handheld basket, then raise the handheld basket.", + "Lift the white can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Use the right arm to grab the beverage can with printed label, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Pick up the small white can with branding, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick up the white can with 3D RADY label, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the medium metal can with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to grab the smooth white can with accents, put it into the yellow basket, and lift the yellow basket with another arm.", + "Pick the medium metal can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the medium metal can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the white can with 3D RADY label and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the small white can with branding, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Lift the can with sealed gold top, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Grab the can with gold top lid, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the medium metal can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Grab the can with gold top lid, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Pick up the cylindrical white glossy can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the medium metal can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Take the can with rounded cylindrical shape and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the medium metal can, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab the red-orange text on white can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Use the same arm to grab the smooth white can with accents, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to take the red-orange text on white can, drop it in the plastic basket, and lift the plastic basket.", + "Use the right arm for the medium metal can, place the medium metal can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Lift the cylindrical white glossy can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick the can with rounded cylindrical shape with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the beverage can with printed label, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Take the cylindrical white glossy can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to hold the red-orange text on white can, drop the red-orange text on white can into the basket with black handle, and lift the basket with black handle.", + "Grab the small white can with branding using the right arm, drop the small white can with branding into the basket with black handle and lift the basket with black handle.", + "Pick up the white can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Use the right arm to pick the beverage can with printed label, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the smooth white can with accents, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the can with red-orange text, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the white can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the cylindrical white glossy can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the white can, drop it into the yellow basket, and raise the yellow basket.", + "Grab the smooth white can with accents with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the can with gold top lid, place it in the plastic basket, and raise the plastic basket.", + "Pick the white can with 3D RADY label using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the can with red-orange text inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the medium metal can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the white can in the yellow basket and then lift the yellow basket.", + "Place the white can with 3D RADY label in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Drop the medium metal can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Take the white can with 3D RADY label in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab and drop the smooth white can with accents in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Take the small white can with branding, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Hold the can with rounded cylindrical shape using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the white can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Take the can with rounded cylindrical shape with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the red-orange text on white can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the white can with 3D RADY label, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the white can with 3D RADY label, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the smooth white can with accents, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the cylindrical white glossy can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the right arm to grab the red-orange text on white can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick the medium metal can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the can with sealed gold top, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the white can with 3D RADY label and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the cylindrical white glossy can, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Lift the small white can with branding, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Grab the beverage can with printed label, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red-orange text on white can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Grab the can with gold top lid, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Pick up the smooth white can with accents, put it into the basket with perforated sides, and lift the basket with perforated sides." + ], + "unseen": [ + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..185de5a42e0fcf4555a32fcb5a21edf440384eee --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the red drink can with white lid and place in the yellow basket, lift the yellow basket with another arm.", + "Grab the drink can with smooth red finish with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the red shiny can with green label, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Hold the medium-sized soda can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the drink can with smooth red finish using the right arm, drop the drink can with smooth red finish into the basket with arched black grip and lift the basket with arched black grip.", + "Grab the cylindrical metal can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Lift the red and white beverage can with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Pick up the red soda can with green accents, set it inside the basket with black handle, then lift the basket with black handle.", + "Pick the red soda can with green accents, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the drink can with smooth red finish, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red soda can with green accents, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the red drink can with white lid, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Grab and drop the red shiny can with green label in the bright yellow basket, lift the bright yellow basket.", + "Lift the red can with decorative label, set it in the plastic basket, and elevate the plastic basket.", + "Pick the red drink can with white lid using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm for the smooth red can, place the smooth red can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the red shiny can with green label, set it into the handheld basket, then raise the handheld basket.", + "Take the medium-sized soda can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to take the cylindrical can with flat surfaces, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Place the red drink can with white lid in the basket with arched black grip and then lift the basket with arched black grip.", + "Use the right arm to grab the drink can with smooth red finish, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Lift the red drink can with white lid, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Grab the red can with decorative label, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick the can with flat silver bottom with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the drink can with smooth red finish with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the cylindrical can with flat surfaces, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Place the metal can with red base inside the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the red drink can with white lid, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Lift the red shiny can with green label, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Take the cylindrical metal can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Drop the red can with decorative label into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Lift the medium-sized soda can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Take the red drink can with white lid in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Take the cylindrical can with flat surfaces, set it into the bright yellow basket, and raise the bright yellow basket.", + "Take the cylindrical metal can with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the red shiny can with green label, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the cylindrical can with flat surfaces, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the same arm to grab the medium-sized soda can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the red soda can with green accents with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Place the red can with decorative label in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the drink can with smooth red finish, drop it into the yellow basket, then carry the yellow basket.", + "Grab the medium-sized soda can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the drink can with smooth red finish with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the red soda can with green accents, put it into the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the red soda can with green accents, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it in the plastic basket, and lift the plastic basket.", + "Pick up the red shiny can with green label using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the medium-sized soda can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Lift the red shiny can with green label, place it in the basket with black handle, and raise the basket with black handle.", + "Use the right arm to hold the red shiny can with green label, drop the red shiny can with green label into the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the red and white beverage can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the medium-sized soda can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the metal can with red base, place it in the plastic basket, and then lift the plastic basket.", + "Hold the smooth red can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the handheld basket and lift the handheld basket.", + "Grab the drink can with smooth red finish, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Lift the drink can with smooth red finish with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick up the red drink can with white lid, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the cylindrical metal can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the metal can with red base, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red drink can with white lid, put it in the plastic basket, then raise the plastic basket.", + "Grab the drink can with smooth red finish, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Grab and drop the red drink can with white lid in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Lift the medium-sized soda can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick the drink can with smooth red finish using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm for the red and white beverage can, place the red and white beverage can in the basket with black handle, and lift the basket with black handle.", + "Grab the red can with decorative label, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Take the red soda can with green accents and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to take the metal can with red base, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Place the red soda can with green accents in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the smooth red can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Lift the cylindrical can with flat surfaces, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Grab the red shiny can with green label, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick the drink can with smooth red finish with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the medium-sized soda can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the red and white beverage can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Place the red and white beverage can inside the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the red soda can with green accents, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the drink can with smooth red finish, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Take the red drink can with white lid, place it into the handheld basket, then lift the handheld basket.", + "Drop the medium-sized soda can into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Lift the red shiny can with green label, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Take the medium-sized soda can in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Take the metal can with red base, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the red can with decorative label with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the cylindrical metal can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the cylindrical metal can, place it into the handheld basket, then lift the handheld basket.", + "Use the same arm to grab the medium-sized soda can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the red drink can with white lid with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Place the metal can with red base in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Lift the cylindrical metal can, drop it into the yellow basket, then carry the yellow basket.", + "Grab the red shiny can with green label, place it in the plastic basket, and then lift the plastic basket.", + "Pick the drink can with smooth red finish with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the medium-sized soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to pick the smooth red can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the red shiny can with green label, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red drink can with white lid using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the red shiny can with green label, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Lift the cylindrical metal can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the plastic basket, and lift the plastic basket." + ], + "unseen": [ + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..8adbcd8e457040819e53e2be9ae758baf56fd314 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/franka-panda/meta/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "left" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null 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a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/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_can_basket/ur5-wsg/meta/info.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf3b6382b51497f4d9009e695965f9718136c9e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "place_can_basket", + "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_can_basket/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf61010906c91082db3222c72d9f76e1eb6199e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium metal can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab the white can with 3D RADY label using the right arm, drop the white can with 3D RADY label into the handheld basket and lift the handheld basket.", + "Use the right arm to hold the red-orange text on white can, drop the red-orange text on white can into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the can with gold top lid, set it inside the yellow basket, then lift the yellow basket.", + "Take the white can with 3D RADY label, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the same arm to grab the smooth white can with accents, place in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the can with red-orange text, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the can with red-orange text, place it in the basket with black handle, and raise the basket with black handle.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the white can with 3D RADY label and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the beverage can with printed label, place it in the handheld basket, and then lift the handheld basket.", + "Take the red-orange text on white can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Place the can with rounded cylindrical shape in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the can with red-orange text, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Use the right arm for the can with red-orange text, place the can with red-orange text in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the white can with 3D RADY label with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Drop the smooth white can with accents into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Use the right arm to grab the white can with 3D RADY label, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Grab and drop the can with sealed gold top in the yellow basket, lift the yellow basket.", + "Place the can with red-orange text inside the yellow basket, then lift the yellow basket.", + "Take the can with sealed gold top with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to grab the beverage can with printed label and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the smooth white can with accents, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the white can with 3D RADY label, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the white can with 3D RADY label with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Pick up the medium metal can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the can with sealed gold top using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Take the white can with 3D RADY label, set it into the basket with black handle, and raise the basket with black handle.", + "Pick the medium metal can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Pick the smooth white can with accents, set it in the basket with black handle, and lift the basket with black handle upward.", + "Lift the white can with 3D RADY label, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the can with red-orange text with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the can with gold top lid with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Lift the white can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick the can with rounded cylindrical shape with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Use the right arm to take the can with sealed gold top, drop it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with gold top lid, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the red-orange text on white can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab the white can with 3D RADY label, set it into the yellow basket, then raise the yellow basket.", + "Pick up the medium metal can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the smooth white can with accents, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick the smooth white can with accents using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the can with gold top lid, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Grab the can with red-orange text, place it in the yellow basket, and then lift the yellow basket.", + "Grab the white can with 3D RADY label, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick the can with sealed gold top, set it in the handheld basket, then lift the handheld basket.", + "Lift the can with red-orange text, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Grab the small white can with branding, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Place the white can with 3D RADY label in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Use the right arm to grab the can with gold top lid, put it into the plastic basket, and lift the plastic basket with another arm.", + "Hold the small white can with branding using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Use the right arm to hold the small white can with branding, drop the small white can with branding into the plastic basket, and lift the plastic basket.", + "Pick up the red-orange text on white can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the medium metal can, place it into the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the plastic basket, and then lift the plastic basket.", + "Lift the white can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Lift the white can with 3D RADY label, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the right arm to pick the smooth white can with accents, place it inside the yellow basket, then lift the yellow basket.", + "Take the can with rounded cylindrical shape and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the can with sealed gold top, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the can with red-orange text in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Place the can with gold top lid in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Grab the can with red-orange text, place it in the plastic basket, and lift the plastic basket upwards.", + "Use the right arm for the can with gold top lid, place the can with gold top lid in the bright yellow basket, and lift the bright yellow basket.", + "Grab the white can with 3D RADY label with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Drop the can with rounded cylindrical shape into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Use the right arm to grab the smooth white can with accents, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Grab and drop the white can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Place the smooth white can with accents inside the basket with arched black grip, then lift the basket with arched black grip.", + "Take the white can with 3D RADY label with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the can with red-orange text and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the can with rounded cylindrical shape, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the can with gold top lid, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the can with red-orange text with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick up the smooth white can with accents, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the can with gold top lid using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the can with sealed gold top, set it into the handheld basket, and raise the handheld basket.", + "Pick the can with sealed gold top with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Pick the can with rounded cylindrical shape, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Lift the can with gold top lid, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the beverage can with printed label with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the white can with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Lift the can with sealed gold top, drop it into the handheld basket, then carry the handheld basket.", + "Pick the white can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Use the right arm to take the smooth white can with accents, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the cylindrical white glossy can, drop it into the handheld basket, and raise the handheld basket.", + "Grab the small white can with branding, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Grab the red-orange text on white can, set it into the handheld basket, then raise the handheld basket.", + "Pick up the white can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the white can with 3D RADY label, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick the beverage can with printed label using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the can with rounded cylindrical shape, place it in the plastic basket, pick up the plastic basket afterward.", + "Grab the can with gold top lid, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the small white can with branding, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick the beverage can with printed label, set it in the basket with black handle, then lift the basket with black handle.", + "Lift the small white can with branding, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the can with gold top lid, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Place the can with sealed gold top in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Use the right arm to grab the white can with 3D RADY label, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm." + ], + "unseen": [ + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..673d480f73c8b42729f78d7395bbcaddd3b86163 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth red soda can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the metallic soda can, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the red beverage can with curved top and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Lift the red can with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Use the right arm to take the metallic soda can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the red and gold cylindrical can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the smooth red soda can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Take the red and gold cylindrical can and put it in the plastic basket, then lift the plastic basket.", + "Use the right arm for the red and gold cylindrical can, place the red and gold cylindrical can in the yellow basket, and lift the yellow basket.", + "Grab the red beverage can with curved top, place it in the yellow basket, and then lift the yellow basket.", + "Use the right arm to grab the metallic soda can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Hold the red can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Pick the metallic soda can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the red can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the compact metal drink can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the metallic soda can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick up the gold-decorated aluminum can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red can with gold illustrations with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to pick the bright red drink container can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the red beverage can with curved top, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Take the palm-sized drink can with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Drop the gold-decorated aluminum can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Grab and drop the metallic soda can in the basket with perforated sides, lift the basket with perforated sides.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the yellow basket, and lift the yellow basket.", + "Lift the red can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the red can with gold illustrations, set it in the basket with black handle, and elevate the basket with black handle.", + "Take the palm-sized drink can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red and gold cylindrical can, set it inside the plastic basket, then lift the plastic basket.", + "Pick the red can with gold illustrations with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the red can with gold illustrations in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab the gold patterned beverage can using the right arm, drop the gold patterned beverage can into the yellow basket and lift the yellow basket.", + "Lift the gold patterned beverage can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the palm-sized drink can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Use the same arm to grab the metallic can with rounded edges, place in the handheld basket, and then lift the handheld basket.", + "Pick up the metallic can with rounded edges, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the red beverage can with curved top, set it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the red can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick up the red can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Grab the red beverage can with curved top, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Take the red and gold cylindrical can, set it into the handheld basket, and raise the handheld basket.", + "Grab the compact metal drink can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Place the red can inside the basket with black handle, then lift the basket with black handle.", + "Grab the metallic soda can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth red soda can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the gold-decorated aluminum can, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Place the gold patterned beverage can in the basket with perforated sides and then lift the basket with perforated sides.", + "Grab the compact metal drink can, place it in the plastic basket, and lift the plastic basket upwards.", + "Lift the gold patterned beverage can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Pick the red beverage can with curved top using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Place the compact metal drink can in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to grab the palm-sized drink can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the palm-sized drink can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the palm-sized drink can and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the gold patterned beverage can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the right arm to take the red beverage can with curved top, drop it in the handheld basket, and lift the handheld basket.", + "Pick up the bright red drink container can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the red beverage can with curved top using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the red beverage can with curved top and put it in the yellow basket, then lift the yellow basket.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the handheld basket, and lift the handheld basket.", + "Grab the gold-decorated aluminum can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the plastic basket, and lift the plastic basket with another arm.", + "Hold the palm-sized drink can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red can with gold illustrations with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the metallic can with rounded edges, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the gold patterned beverage can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick up the red and gold cylindrical can, put it into the basket with black handle, and lift the basket with black handle.", + "Pick the gold-decorated aluminum can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to pick the red beverage can with curved top, place it inside the yellow basket, then lift the yellow basket.", + "Lift the gold-decorated aluminum can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Take the palm-sized drink can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Drop the metallic soda can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Grab and drop the compact metal drink can in the handheld basket, lift the handheld basket.", + "Use the right arm to hold the gold-decorated aluminum can, drop the gold-decorated aluminum can into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the smooth red soda can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Lift the red can, set it in the handheld basket, and elevate the handheld basket.", + "Take the metallic soda can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the palm-sized drink can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the gold-decorated aluminum can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Take the metallic can with rounded edges in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Grab the compact metal drink can using the right arm, drop the compact metal drink can into the handheld basket and lift the handheld basket.", + "Lift the smooth red soda can, place it in the plastic basket, and raise the plastic basket.", + "Grab the red and gold cylindrical can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Use the same arm to grab the red beverage can with curved top, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the red beverage can with curved top, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the red and gold cylindrical can, set it in the plastic basket, then lift the plastic basket.", + "Lift the gold-decorated aluminum can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the palm-sized drink can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the metallic soda can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Take the compact metal drink can, set it into the basket with black handle, and raise the basket with black handle.", + "Grab the palm-sized drink can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Place the gold patterned beverage can inside the yellow basket, then lift the yellow basket.", + "Grab the gold patterned beverage can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to grab the compact metal drink can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the gold patterned beverage can, set it in the plastic basket, and lift the plastic basket upward.", + "Place the metallic soda can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the metallic can with rounded edges, place it in the plastic basket, and lift the plastic basket upwards.", + "Lift the gold patterned beverage can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick the palm-sized drink can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Place the red beverage can with curved top in the plastic basket and then use another arm to lift the plastic basket." + ], + "unseen": [ + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..261a36c43b8a05039472786278cf0fcc67cb6266 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beverage can with red green graphics, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Use the right arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the yellow basket, and lift the yellow basket.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Lift the metallic drink can with pull-tab, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the soda can with lime illustration, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the soda can with lime illustration using the right arm, drop the soda can with lime illustration into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Take the soda can with lime illustration and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the red green beverage can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the smooth cylindrical can with lime pattern, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the right arm to take the red green beverage can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the colorful can with lime and orange design, place it in the plastic basket, pick up the plastic basket afterward.", + "Place the colorful can with lime and orange design in the plastic basket and then use another arm to lift the plastic basket.", + "Take the can with red green label, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the small soda can with lime graphics, set it inside the yellow basket, then lift the yellow basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the green red metallic soda can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the metal can with pull-tab top, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick the red green beverage can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick up the red green beverage can, place it into the plastic basket, then lift the plastic basket.", + "Grab the red green can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab and drop the colorful can with lime and orange design in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Take the can with red green label with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to pick the metal can with pull-tab top, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the red green beverage can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the metallic drink can with pull-tab, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Pick up the drink can with bright colors, put it in the basket with black handle, and lift the basket with black handle.", + "Take the metal can with pull-tab top, set it into the basket with black handle, and raise the basket with black handle.", + "Place the soda can with lime illustration inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the green red metallic soda can, place it in the handheld basket, and lift the handheld basket.", + "Pick the colorful can with lime and orange design with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Lift the soda can with lime illustration with the right arm, set it in the plastic basket, and lift with another arm.", + "Grab the soda can with lime illustration, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab the beverage can with red green graphics, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the smooth cylindrical can with lime pattern, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Place the metal can with pull-tab top in the basket with black handle and then lift the basket with black handle.", + "Pick the metal can with pull-tab top with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to grab the can with red green label, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Pick up the colorful can with lime and orange design, put it into the handheld basket, and lift the handheld basket.", + "Use the same arm to grab the metallic drink can with pull-tab, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick the red green beverage can, set it in the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick the green red metallic soda can using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Hold the drink can with bright colors using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Drop the soda can with lime illustration into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Use the right arm to hold the metal can with pull-tab top, drop the metal can with pull-tab top into the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the metal can with pull-tab top, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Pick up the drink can with bright colors using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the metal can with pull-tab top with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the metallic drink can with pull-tab, put it in the plastic basket, then raise the plastic basket.", + "Use the right arm for the can with red green label, place the can with red green label in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the colorful can with lime and orange design in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Lift the drink can with bright colors, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Grab the red green can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Grab the small soda can with lime graphics using the right arm, drop the small soda can with lime graphics into the basket with perforated sides and lift the basket with perforated sides.", + "Take the red green beverage can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the soda can with lime illustration with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the soda can with lime illustration, set it in the plastic basket, and elevate the plastic basket.", + "Use the right arm to take the green red metallic soda can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the metal can with pull-tab top, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Place the red green can in the handheld basket and then use another arm to lift the handheld basket.", + "Take the colorful can with lime and orange design, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the smooth cylindrical can with lime pattern, set it inside the handheld basket, then lift the handheld basket.", + "Lift the smooth cylindrical can with lime pattern, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the smooth cylindrical can with lime pattern, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the smooth cylindrical can with lime pattern, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Pick the beverage can with red green graphics, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the right arm to grab the small soda can with lime graphics, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the handheld basket, then lift the handheld basket.", + "Grab the small soda can with lime graphics, place it in the handheld basket, and then lift the handheld basket.", + "Grab and drop the soda can with lime illustration in the bright yellow basket, lift the bright yellow basket.", + "Take the smooth cylindrical can with lime pattern with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to pick the green red metallic soda can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the beverage can with red green graphics, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Lift the drink can with bright colors, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick up the small soda can with lime graphics, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the small soda can with lime graphics, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Place the green red metallic soda can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the soda can with lime illustration, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the small soda can with lime graphics with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the metal can with pull-tab top with the right arm, set it in the handheld basket, and lift with another arm.", + "Grab the red green can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Grab the soda can with lime illustration, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the small soda can with lime graphics, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Place the colorful can with lime and orange design in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the soda can with lime illustration with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to grab the small soda can with lime graphics, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Pick up the smooth cylindrical can with lime pattern, put it into the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the colorful can with lime and orange design, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the small soda can with lime graphics, set it in the plastic basket, then lift the plastic basket.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the handheld basket, lift the handheld basket with another arm.", + "Pick the metal can with pull-tab top using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Hold the soda can with lime illustration using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Drop the metal can with pull-tab top into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Use the right arm to hold the red green can, drop the red green can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the small soda can with lime graphics, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the colorful can with lime and orange design with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm." + ], + "unseen": [ + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..90a3d0b54e049003929fbf8fe0935985a2f10657 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the beverage can with red green graphics with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Place the small soda can with lime graphics in the handheld basket and then lift the handheld basket.", + "Place the beverage can with red green graphics inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the can with red green label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Grab the drink can with bright colors, drop it into the handheld basket, and raise the handheld basket.", + "Use the same arm to grab the soda can with lime illustration, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the smooth cylindrical can with lime pattern, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the beverage can with red green graphics with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Pick the drink can with bright colors using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the can with red green label and place in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the soda can with lime illustration, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Pick the metallic drink can with pull-tab, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Take the green red metallic soda can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the red green beverage can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to take the metallic drink can with pull-tab, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the metal can with pull-tab top, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Pick the metal can with pull-tab top with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the soda can with lime illustration, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick the small soda can with lime graphics with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Take the green red metallic soda can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick up the beverage can with red green graphics, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the metal can with pull-tab top, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Use the right arm to grab the drink can with bright colors, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Drop the drink can with bright colors into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Lift the small soda can with lime graphics, place it in the handheld basket, and raise the handheld basket.", + "Pick up the can with red green label, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab and drop the green red metallic soda can in the yellow basket, lift the yellow basket.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the small soda can with lime graphics, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the drink can with bright colors, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Pick up the soda can with lime illustration using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Hold the can with red green label using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm for the red green can, place the red green can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the can with red green label with the right arm, set it in the plastic basket, and lift with another arm.", + "Grab the green red metallic soda can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the yellow basket and lift the yellow basket.", + "Grab the can with red green label, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the metallic drink can with pull-tab with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the soda can with lime illustration, put it in the handheld basket, then raise the handheld basket.", + "Pick up the soda can with lime illustration, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Place the metallic drink can with pull-tab in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Lift the red green can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm to grab the colorful can with lime and orange design, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the red green can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red green can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Lift the metallic drink can with pull-tab, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the red green can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the beverage can with red green graphics, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Grab the can with red green label, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the soda can with lime illustration with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Place the small soda can with lime graphics in the basket with perforated sides and then lift the basket with perforated sides.", + "Place the smooth cylindrical can with lime pattern inside the yellow basket, then lift the yellow basket.", + "Grab the colorful can with lime and orange design, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Grab the green red metallic soda can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the same arm to grab the smooth cylindrical can with lime pattern, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the small soda can with lime graphics, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the soda can with lime illustration with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the beverage can with red green graphics using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm to grab the red green beverage can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the soda can with lime illustration, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Pick the drink can with bright colors, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the smooth cylindrical can with lime pattern and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Take the metallic drink can with pull-tab, set it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm to take the red green beverage can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the metallic drink can with pull-tab, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the metal can with pull-tab top with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the beverage can with red green graphics, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick the green red metallic soda can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the red green beverage can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the colorful can with lime and orange design, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the can with red green label, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Use the right arm to grab the small soda can with lime graphics, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Drop the smooth cylindrical can with lime pattern into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Lift the red green can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick up the can with red green label, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab and drop the small soda can with lime graphics in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the plastic basket, and lift the plastic basket.", + "Pick up the drink can with bright colors, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the smooth cylindrical can with lime pattern, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick up the red green beverage can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Hold the beverage can with red green graphics using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm for the metal can with pull-tab top, place the metal can with pull-tab top in the bright yellow basket, and lift the bright yellow basket.", + "Lift the metallic drink can with pull-tab with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the drink can with bright colors, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Grab the green red metallic soda can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the drink can with bright colors with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the red green can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the soda can with lime illustration, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick up the drink can with bright colors, place it into the bright yellow basket, then lift the bright yellow basket.", + "Place the green red metallic soda can in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the can with red green label, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the right arm to grab the can with red green label, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the green red metallic soda can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the metallic drink can with pull-tab, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Lift the small soda can with lime graphics, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Take the metal can with pull-tab top, place it into the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the red green can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Grab the drink can with bright colors, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle." + ], + "unseen": [ + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..57b656b42583536ed2e745736b2b46ff28a1e061 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the compact metal drink can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the gold-decorated aluminum can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the red can with gold illustrations with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick the red can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the gold-decorated aluminum can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Grab the red can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab the compact metal drink can, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Pick the gold-decorated aluminum can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the red can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the red and gold cylindrical can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick up the red beverage can with curved top, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab and drop the bright red drink container can in the bright yellow basket, lift the bright yellow basket.", + "Grab the gold-decorated aluminum can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Take the gold-decorated aluminum can, set it into the handheld basket, and raise the handheld basket.", + "Grab the smooth red soda can using the right arm, drop the smooth red soda can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Lift the bright red drink container can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm to pick the bright red drink container can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the gold patterned beverage can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Use the same arm to grab the metallic soda can, place in the plastic basket, and then lift the plastic basket.", + "Lift the red can with gold illustrations, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Use the right arm to grab the compact metal drink can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Place the palm-sized drink can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Lift the bright red drink container can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Lift the smooth red soda can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the red and gold cylindrical can, place it in the yellow basket, and then lift the yellow basket.", + "Place the gold-decorated aluminum can inside the plastic basket, then lift the plastic basket.", + "Take the red and gold cylindrical can and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the bright red drink container can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the red can with gold illustrations, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the palm-sized drink can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the red beverage can with curved top, put it in the bright yellow basket, then raise the bright yellow basket.", + "Place the compact metal drink can in the basket with perforated sides and then lift the basket with perforated sides.", + "Pick up the gold patterned beverage can using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm to take the red beverage can with curved top, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the red can with gold illustrations, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Hold the compact metal drink can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Take the palm-sized drink can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the gold patterned beverage can, set it inside the plastic basket, then lift the plastic basket.", + "Lift the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the compact metal drink can, place it in the yellow basket, and lift the yellow basket upwards.", + "Use the right arm to hold the compact metal drink can, drop the compact metal drink can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the smooth red soda can, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the gold patterned beverage can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Drop the gold patterned beverage can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the red and gold cylindrical can with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the red beverage can with curved top, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick up the metallic soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the red can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick up the bright red drink container can with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the gold patterned beverage can, drop it into the basket with black handle, and raise the basket with black handle.", + "Pick the compact metal drink can with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick the metallic can with rounded edges with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Pick the metallic soda can using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the metallic soda can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Grab the palm-sized drink can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Grab the metallic soda can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Pick the palm-sized drink can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the gold patterned beverage can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Take the red and gold cylindrical can in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick up the red beverage can with curved top, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab and drop the smooth red soda can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the bright red drink container can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Take the metallic can with rounded edges, set it into the yellow basket, and raise the yellow basket.", + "Grab the palm-sized drink can using the right arm, drop the palm-sized drink can into the handheld basket and lift the handheld basket.", + "Lift the metallic can with rounded edges, place it inside the basket with black handle, and elevate the basket with black handle.", + "Use the right arm to pick the red can with gold illustrations, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the red beverage can with curved top, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Use the same arm to grab the smooth red soda can, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Lift the red can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Use the right arm to grab the red and gold cylindrical can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Place the red beverage can with curved top in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Lift the compact metal drink can, drop it into the handheld basket, then carry the handheld basket.", + "Lift the red can with gold illustrations, set it in the basket with black handle, and elevate the basket with black handle.", + "Grab the bright red drink container can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the palm-sized drink can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the metallic soda can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the red and gold cylindrical can, put it in the yellow basket, and lift the yellow basket.", + "Grab the red can with gold illustrations, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the metallic soda can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the red beverage can with curved top, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Place the gold-decorated aluminum can in the yellow basket and then lift the yellow basket.", + "Pick up the metallic can with rounded edges using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm to take the red can with gold illustrations, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the gold patterned beverage can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Hold the compact metal drink can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metallic can with rounded edges, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the gold-decorated aluminum can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the metallic soda can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Grab the metallic can with rounded edges, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Use the right arm to hold the gold patterned beverage can, drop the gold patterned beverage can into the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the red and gold cylindrical can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the red beverage can with curved top and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Drop the red beverage can with curved top into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Grab the compact metal drink can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the bright red drink container can, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick up the red can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the smooth red soda can with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the bright red drink container can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the right arm for the red can, place the red can in the bright yellow basket, and lift the bright yellow basket." + ], + "unseen": [ + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..f0e5217b7f155629e2b54c716a2c8495b3262ec1 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the can with sealed gold top, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the can with rounded cylindrical shape, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the can with gold top lid, place it into the yellow basket, then lift the yellow basket.", + "Grab the smooth white can with accents, set it into the bright yellow basket, then raise the bright yellow basket.", + "Use the right arm to grab the can with gold top lid, place it in the yellow basket, and lift the yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Take the cylindrical white glossy can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the small white can with branding, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Lift the beverage can with printed label, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the can with sealed gold top, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the can with rounded cylindrical shape using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Take the red-orange text on white can in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Lift the small white can with branding with the right arm, set it in the yellow basket, and lift with another arm.", + "Lift the cylindrical white glossy can, drop it into the basket with black handle, then carry the basket with black handle.", + "Use the right arm to grab the can with gold top lid, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab and drop the beverage can with printed label in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick up the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the cylindrical white glossy can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Pick up the red-orange text on white can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the red-orange text on white can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Drop the can with gold top lid into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the handheld basket, and lift the handheld basket.", + "Place the small white can with branding in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Pick the smooth white can with accents, set it in the yellow basket, and lift the yellow basket upward.", + "Take the can with sealed gold top, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red-orange text on white can, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab the smooth white can with accents, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Grab the can with red-orange text with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the red-orange text on white can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Use the right arm to grab the medium metal can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Hold the can with rounded cylindrical shape using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the beverage can with printed label, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Use the right arm to pick the cylindrical white glossy can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the can with sealed gold top using the right arm, drop the can with sealed gold top into the basket with arched black grip and lift the basket with arched black grip.", + "Grab the can with gold top lid, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Take the medium metal can, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Place the can with rounded cylindrical shape inside the plastic basket, then lift the plastic basket.", + "Use the same arm to grab the cylindrical white glossy can, place in the yellow basket, and then lift the yellow basket.", + "Lift the can with sealed gold top, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Pick up the can with rounded cylindrical shape, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Lift the white can with 3D RADY label, set it in the basket with black handle, and elevate the basket with black handle.", + "Lift the can with rounded cylindrical shape, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the white can with 3D RADY label, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the medium metal can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the bright yellow basket, and lift the bright yellow basket.", + "Place the beverage can with printed label in the bright yellow basket and then lift the bright yellow basket.", + "Pick the small white can with branding using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the can with sealed gold top with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the right arm to take the can with red-orange text, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the red-orange text on white can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the smooth white can with accents, set it into the yellow basket, then raise the yellow basket.", + "Use the right arm to grab the white can with 3D RADY label, place it in the yellow basket, and lift the yellow basket.", + "Grab the cylindrical white glossy can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Take the small white can with branding and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the cylindrical white glossy can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the small white can with branding, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Grab the can with rounded cylindrical shape, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the can with red-orange text using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the beverage can with printed label in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Lift the can with sealed gold top with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Lift the can with rounded cylindrical shape, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the right arm to grab the can with red-orange text, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Grab and drop the can with sealed gold top in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick up the smooth white can with accents, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the can with gold top lid with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the cylindrical white glossy can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Drop the can with red-orange text into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Use the right arm for the red-orange text on white can, place the red-orange text on white can in the basket with black handle, and lift the basket with black handle.", + "Place the white can with 3D RADY label in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Pick the medium metal can, set it in the yellow basket, and lift the yellow basket upward.", + "Take the cylindrical white glossy can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the beverage can with printed label, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab the medium metal can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Grab the can with sealed gold top with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the beverage can with printed label with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the can with red-orange text and place in the basket with black handle, lift the basket with black handle with another arm.", + "Hold the cylindrical white glossy can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with gold top lid, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the right arm to pick the can with sealed gold top, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the cylindrical white glossy can using the right arm, drop the cylindrical white glossy can into the handheld basket and lift the handheld basket.", + "Grab the cylindrical white glossy can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Take the beverage can with printed label, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Place the medium metal can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the same arm to grab the medium metal can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the white can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Pick up the medium metal can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the can with red-orange text, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the white can with 3D RADY label, place it in the yellow basket, and raise the yellow basket.", + "Lift the red-orange text on white can, place it inside the yellow basket, and elevate the yellow basket.", + "Pick the white can with 3D RADY label with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Pick up the medium metal can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the can with gold top lid in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick the medium metal can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick the can with gold top lid with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm." + ], + "unseen": [ + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf1a8cb8a1323114a003d66b29f2d8aa556a2e5 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical metal can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Pick the red soda can with green accents, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Place the cylindrical metal can in the basket with perforated sides and then lift the basket with perforated sides.", + "Pick up the red shiny can with green label, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the red drink can with white lid, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to hold the red can with decorative label, drop the red can with decorative label into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the metal can with red base, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Use the right arm to take the red and white beverage can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the red drink can with white lid, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick up the red and white beverage can, place it in the plastic basket, and then lift the plastic basket.", + "Place the can with flat silver bottom in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Grab the red and white beverage can using the right arm, drop the red and white beverage can into the basket with arched black grip and lift the basket with arched black grip.", + "Grab the metal can with red base, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick the cylindrical metal can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the same arm to grab the cylindrical can with flat surfaces, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the cylindrical can with flat surfaces, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm for the smooth red can, place the smooth red can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to pick the red soda can with green accents, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the cylindrical metal can, set it in the basket with black handle, and elevate the basket with black handle.", + "Grab and drop the red shiny can with green label in the basket with arched black grip, lift the basket with arched black grip.", + "Pick the red can with decorative label, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the smooth red can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the drink can with smooth red finish, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red drink can with white lid, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the red shiny can with green label, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the smooth red can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Drop the can with flat silver bottom into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Grab the red can with decorative label, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the drink can with smooth red finish using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the medium-sized soda can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Use the right arm to grab the red shiny can with green label, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the red soda can with green accents with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick up the red and white beverage can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Pick up the red drink can with white lid, set it inside the yellow basket, then lift the yellow basket.", + "Hold the red can with decorative label using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the drink can with smooth red finish inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the red and white beverage can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the red shiny can with green label with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to grab the cylindrical metal can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Take the cylindrical can with flat surfaces, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Lift the metal can with red base, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Lift the medium-sized soda can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Lift the drink can with smooth red finish, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Pick up the cylindrical metal can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the drink can with smooth red finish, put it into the bright yellow basket, and lift the bright yellow basket.", + "Pick the red shiny can with green label with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the cylindrical can with flat surfaces, drop it into the handheld basket, then carry the handheld basket.", + "Use the right arm to grab the red soda can with green accents and place in the yellow basket, lift the yellow basket with another arm.", + "Take the can with flat silver bottom and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the drink can with smooth red finish with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick the smooth red can with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick the medium-sized soda can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Place the smooth red can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick up the smooth red can, place it into the basket with black handle, then lift the basket with black handle.", + "Take the can with flat silver bottom, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the yellow basket, and lift the yellow basket.", + "Grab the medium-sized soda can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Use the right arm to take the red soda can with green accents, drop it in the basket with black handle, and lift the basket with black handle.", + "Grab the red drink can with white lid, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Pick up the cylindrical can with flat surfaces, place it in the plastic basket, and then lift the plastic basket.", + "Place the red drink can with white lid in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Grab the smooth red can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick the drink can with smooth red finish with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the same arm to grab the cylindrical metal can, place in the handheld basket, and then lift the handheld basket.", + "Pick up the red shiny can with green label, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm for the smooth red can, place the smooth red can in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to pick the cylindrical can with flat surfaces, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the red soda can with green accents, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Grab and drop the drink can with smooth red finish in the handheld basket, lift the handheld basket.", + "Pick the cylindrical metal can, set it in the plastic basket, then lift the plastic basket.", + "Take the smooth red can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the red soda can with green accents, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the cylindrical metal can, place it in the handheld basket, and then lift the handheld basket.", + "Use the right arm to grab the smooth red can, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Grab the red drink can with white lid, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Drop the smooth red can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the red shiny can with green label, drop it into the handheld basket, and raise the handheld basket.", + "Pick the drink can with smooth red finish using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red can with decorative label, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it in the bright yellow basket, and lift the bright yellow basket.", + "Take the metal can with red base with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the red soda can with green accents with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Pick up the drink can with smooth red finish, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Hold the red shiny can with green label using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Place the red shiny can with green label inside the yellow basket, then lift the yellow basket.", + "Lift the cylindrical can with flat surfaces, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Lift the cylindrical can with flat surfaces with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to grab the drink can with smooth red finish, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Take the can with flat silver bottom, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the red and white beverage can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Lift the metal can with red base, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Lift the red soda can with green accents, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick up the red and white beverage can using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the red shiny can with green label, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the medium-sized soda can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the drink can with smooth red finish, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Use the right arm to grab the red and white beverage can and place in the plastic basket, lift the plastic basket with another arm.", + "Take the can with flat silver bottom and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red can with decorative label with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm." + ], + "unseen": [ + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..05f385edd5b9f9b0c7d908e9dc50584f2b64e936 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the beverage can with red green graphics using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the can with red green label using the right arm, drop the can with red green label into the basket with arched black grip and lift the basket with arched black grip.", + "Lift the red green beverage can, place it inside the handheld basket, and elevate the handheld basket.", + "Pick up the beverage can with red green graphics, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the beverage can with red green graphics, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Take the red green beverage can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the beverage can with red green graphics, set it inside the plastic basket, then lift the plastic basket.", + "Pick the green red metallic soda can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick the green red metallic soda can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the metal can with pull-tab top, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Pick up the colorful can with lime and orange design using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the same arm to grab the metal can with pull-tab top, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick the green red metallic soda can, set it in the yellow basket, then lift the yellow basket.", + "Lift the metal can with pull-tab top, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the red green beverage can and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the soda can with lime illustration, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Pick up the green red metallic soda can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the metallic drink can with pull-tab, set it into the plastic basket, then raise the plastic basket.", + "Grab the green red metallic soda can, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the drink can with bright colors, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the red green can, put it in the yellow basket, and lift the yellow basket.", + "Grab the metal can with pull-tab top, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the right arm to grab the red green can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Lift the red green can, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the metallic drink can with pull-tab with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Use the right arm to take the metal can with pull-tab top, drop it in the yellow basket, and lift the yellow basket.", + "Grab the beverage can with red green graphics with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the small soda can with lime graphics, put it into the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to hold the red green can, drop the red green can into the basket with arched black grip, and lift the basket with arched black grip.", + "Take the green red metallic soda can in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab and drop the drink can with bright colors in the yellow basket, lift the yellow basket.", + "Place the red green can in the yellow basket and then use another arm to lift the yellow basket.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Place the smooth cylindrical can with lime pattern inside the plastic basket, then lift the plastic basket.", + "Grab the soda can with lime illustration, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to pick the soda can with lime illustration, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the metal can with pull-tab top with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the smooth cylindrical can with lime pattern, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Take the red green can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Drop the small soda can with lime graphics into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Lift the red green beverage can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the small soda can with lime graphics with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Place the small soda can with lime graphics in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the right arm for the can with red green label, place the can with red green label in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the small soda can with lime graphics, put it into the plastic basket, and lift the plastic basket with another arm.", + "Lift the small soda can with lime graphics, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the drink can with bright colors, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick the metallic drink can with pull-tab with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the metal can with pull-tab top using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the bright yellow basket and lift the bright yellow basket.", + "Lift the red green beverage can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the beverage can with red green graphics, place it in the handheld basket, and then lift the handheld basket.", + "Lift the smooth cylindrical can with lime pattern, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Take the smooth cylindrical can with lime pattern, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the red green beverage can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the drink can with bright colors, set it in the handheld basket, and lift the handheld basket upward.", + "Pick the can with red green label with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the red green can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the same arm to grab the green red metallic soda can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the soda can with lime illustration, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the green red metallic soda can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Take the soda can with lime illustration and put it in the yellow basket, then lift the yellow basket.", + "Grab the drink can with bright colors, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick up the red green can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the beverage can with red green graphics and place in the plastic basket, lift the plastic basket with another arm.", + "Grab the green red metallic soda can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Grab the red green can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the red green can, place it in the basket with black handle, and lift the basket with black handle.", + "Pick up the beverage can with red green graphics, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the metallic drink can with pull-tab, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Use the right arm to grab the red green beverage can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the colorful can with lime and orange design, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Lift the drink can with bright colors with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Use the right arm to take the soda can with lime illustration, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the can with red green label with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick up the soda can with lime illustration, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to hold the red green can, drop the red green can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the beverage can with red green graphics in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab and drop the metal can with pull-tab top in the basket with perforated sides, lift the basket with perforated sides.", + "Place the metallic drink can with pull-tab in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Place the red green can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the drink can with bright colors, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Use the right arm to pick the green red metallic soda can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Take the drink can with bright colors with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the metallic drink can with pull-tab, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Take the green red metallic soda can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Drop the soda can with lime illustration into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Lift the smooth cylindrical can with lime pattern, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Pick the metal can with pull-tab top with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Place the green red metallic soda can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Use the right arm for the red green beverage can, place the red green beverage can in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the beverage can with red green graphics, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Lift the smooth cylindrical can with lime pattern, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Grab the small soda can with lime graphics, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Pick the red green beverage can with the right arm, set it in the plastic basket, and lift the plastic basket using another arm." + ], + "unseen": [ + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..f44206151e4b2a68b62d7f9a02485f033dadccf9 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the red and gold cylindrical can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the red and gold cylindrical can, place it in the basket with black handle, and raise the basket with black handle.", + "Pick up the smooth red soda can, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the bright red drink container can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the compact metal drink can with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Place the red and gold cylindrical can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Take the red can with gold illustrations, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the red and gold cylindrical can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the red can, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the red can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the red and gold cylindrical can, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick the metallic soda can with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the bright red drink container can, drop it into the handheld basket, then carry the handheld basket.", + "Place the bright red drink container can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick the red can with gold illustrations, set it in the plastic basket, then lift the plastic basket.", + "Grab the red beverage can with curved top, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick up the gold patterned beverage can, put it in the basket with black handle, and lift the basket with black handle.", + "Grab the smooth red soda can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Hold the gold patterned beverage can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Pick up the red and gold cylindrical can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Pick the gold patterned beverage can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Lift the red can with gold illustrations, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Use the same arm to grab the gold-decorated aluminum can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the gold-decorated aluminum can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the palm-sized drink can, place it in the plastic basket, and then lift the plastic basket.", + "Take the palm-sized drink can with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the metallic can with rounded edges using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Lift the bright red drink container can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the red can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick the red can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Grab and drop the red and gold cylindrical can in the basket with perforated sides, lift the basket with perforated sides.", + "Grab the smooth red soda can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Use the right arm to pick the metallic soda can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Drop the metallic can with rounded edges into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Grab the bright red drink container can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the palm-sized drink can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Pick up the red beverage can with curved top using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Use the right arm to take the compact metal drink can, drop it in the plastic basket, and lift the plastic basket.", + "Pick up the gold-decorated aluminum can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the palm-sized drink can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the bright red drink container can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the gold patterned beverage can, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm to grab the red can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the palm-sized drink can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Grab the compact metal drink can using the right arm, drop the compact metal drink can into the plastic basket and lift the plastic basket.", + "Pick the metallic can with rounded edges with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the metallic soda can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Lift the palm-sized drink can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Place the red beverage can with curved top inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the compact metal drink can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the metallic can with rounded edges, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red and gold cylindrical can, set it inside the yellow basket, then lift the yellow basket.", + "Pick up the gold patterned beverage can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Place the gold-decorated aluminum can in the yellow basket and then use another arm to lift the yellow basket.", + "Take the red can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Use the right arm to grab the palm-sized drink can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the compact metal drink can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the metallic can with rounded edges, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the metallic soda can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick the palm-sized drink can with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Lift the gold-decorated aluminum can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Place the bright red drink container can in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick the red can with gold illustrations, set it in the plastic basket, then lift the plastic basket.", + "Grab the bright red drink container can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the metallic can with rounded edges, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the metallic can with rounded edges with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Hold the compact metal drink can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick up the smooth red soda can, place it in the basket with black handle, and then lift the basket with black handle.", + "Pick the red and gold cylindrical can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the red can with gold illustrations, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Use the same arm to grab the red beverage can with curved top, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Take the red can with gold illustrations, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the bright red drink container can, place it in the basket with black handle, and then lift the basket with black handle.", + "Take the smooth red soda can with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the red can with gold illustrations using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Lift the gold-decorated aluminum can, set it in the plastic basket, and elevate the plastic basket.", + "Use the right arm to grab the gold patterned beverage can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the palm-sized drink can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Grab and drop the metallic can with rounded edges in the basket with arched black grip, lift the basket with arched black grip.", + "Grab the red can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the right arm to pick the red and gold cylindrical can, place it inside the plastic basket, then lift the plastic basket.", + "Drop the compact metal drink can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Grab the palm-sized drink can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Use the right arm to hold the red and gold cylindrical can, drop the red and gold cylindrical can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the compact metal drink can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Pick up the metallic can with rounded edges using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to take the red and gold cylindrical can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the gold-decorated aluminum can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the red can with gold illustrations and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the gold patterned beverage can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the red can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Use the right arm to grab the smooth red soda can and place in the yellow basket, lift the yellow basket with another arm.", + "Take the gold patterned beverage can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the plastic basket and lift the plastic basket.", + "Pick the metallic soda can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab the gold patterned beverage can, set it into the yellow basket, then raise the yellow basket.", + "Lift the metallic can with rounded edges with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm." + ], + "unseen": [ + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c04fc4797d4719ff3895c676388c6af9d2bef3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the red-orange text on white can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the plastic basket, and lift the plastic basket.", + "Grab the smooth white can with accents, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Grab the medium metal can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Pick up the medium metal can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the can with red-orange text, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Take the smooth white can with accents with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Take the white can, set it into the handheld basket, and raise the handheld basket.", + "Pick the smooth white can with accents with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the basket with arched black grip and lift the basket with arched black grip.", + "Use the same arm to grab the beverage can with printed label, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the white can with 3D RADY label with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to take the smooth white can with accents, drop it in the basket with black handle, and lift the basket with black handle.", + "Lift the beverage can with printed label, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Place the white can inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the beverage can with printed label, set it in the plastic basket, and elevate the plastic basket.", + "Lift the small white can with branding with the right arm, set it in the yellow basket, and lift with another arm.", + "Use the right arm to grab the small white can with branding, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Grab the medium metal can with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab and drop the small white can with branding in the handheld basket, lift the handheld basket.", + "Use the right arm to grab the red-orange text on white can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the medium metal can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Use the right arm to grab the medium metal can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Use the right arm to grab the smooth white can with accents, place it in the plastic basket, and lift the plastic basket.", + "Lift the beverage can with printed label, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Lift the can with gold top lid, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Pick up the white can with 3D RADY label, put it in the yellow basket, and lift the yellow basket.", + "Take the white can with 3D RADY label, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to pick the white can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the smooth white can with accents, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Grab the smooth white can with accents, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the can with red-orange text, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the can with sealed gold top using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the medium metal can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Place the can with red-orange text in the yellow basket and then lift the yellow basket.", + "Grab the white can with 3D RADY label, drop it into the handheld basket, then use another arm for the handheld basket.", + "Hold the can with red-orange text using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the small white can with branding using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the small white can with branding and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the cylindrical white glossy can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the beverage can with printed label, place it in the handheld basket, pick up the handheld basket afterward.", + "Lift the cylindrical white glossy can, place it in the basket with black handle, and raise the basket with black handle.", + "Place the cylindrical white glossy can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick up the can with rounded cylindrical shape, put it into the bright yellow basket, and lift the bright yellow basket.", + "Pick up the can with sealed gold top, place it into the bright yellow basket, then lift the bright yellow basket.", + "Grab the white can with 3D RADY label, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the red-orange text on white can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the basket with arched black grip, and lift the basket with arched black grip.", + "Take the white can with 3D RADY label in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab the can with rounded cylindrical shape, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Drop the can with red-orange text into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Use the right arm for the white can, place the white can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the cylindrical white glossy can, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab the white can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick up the white can with 3D RADY label, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the beverage can with printed label, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Take the small white can with branding with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Take the can with red-orange text, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the white can with 3D RADY label with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the red-orange text on white can using the right arm, drop the red-orange text on white can into the basket with black handle and lift the basket with black handle.", + "Use the same arm to grab the can with red-orange text, place in the plastic basket, and then lift the plastic basket.", + "Pick the red-orange text on white can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to take the cylindrical white glossy can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the medium metal can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Place the can with sealed gold top inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the can with rounded cylindrical shape, set it in the handheld basket, and elevate the handheld basket.", + "Lift the smooth white can with accents with the right arm, set it in the plastic basket, and lift with another arm.", + "Use the right arm to grab the white can with 3D RADY label, put it into the plastic basket, and lift the plastic basket with another arm.", + "Grab the white can with 3D RADY label with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab and drop the small white can with branding in the handheld basket, lift the handheld basket.", + "Use the right arm to grab the cylindrical white glossy can and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the small white can with branding with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth white can with accents, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Use the right arm to grab the can with gold top lid, place it in the handheld basket, and lift the handheld basket.", + "Lift the cylindrical white glossy can, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the smooth white can with accents, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick up the can with gold top lid, put it in the plastic basket, and lift the plastic basket.", + "Take the smooth white can with accents, place it into the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to pick the can with rounded cylindrical shape, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the medium metal can, drop it into the yellow basket, and raise the yellow basket.", + "Grab the white can with 3D RADY label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the can with red-orange text, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the red-orange text on white can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the can with sealed gold top, set it in the bright yellow basket, then lift the bright yellow basket.", + "Place the can with gold top lid in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Grab the can with sealed gold top, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Hold the white can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick the can with gold top lid using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Take the medium metal can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the can with sealed gold top with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the white can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Lift the small white can with branding, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Place the white can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Pick up the can with gold top lid, put it into the handheld basket, and lift the handheld basket.", + "Pick up the can with sealed gold top, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the medium metal can, put it in the basket with black handle, then raise the basket with black handle.", + "Grab the white can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with black handle, and lift the basket with black handle.", + "Take the smooth white can with accents in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Grab the can with rounded cylindrical shape, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm." + ], + "unseen": [ + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e66c53c0975ff54ff400a3786a6704a4fcd97c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the can with red green label, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to take the small soda can with lime graphics, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the beverage can with red green graphics with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick the beverage can with red green graphics with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Take the red green can, set it into the basket with black handle, and raise the basket with black handle.", + "Take the can with red green label in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Pick the can with red green label with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Drop the soda can with lime illustration into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Pick up the drink can with bright colors, put it in the yellow basket, and lift the yellow basket.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the green red metallic soda can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Use the same arm to grab the can with red green label, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm for the smooth cylindrical can with lime pattern, place the smooth cylindrical can with lime pattern in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the small soda can with lime graphics, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red green can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the red green can, put it in the yellow basket, then raise the yellow basket.", + "Lift the drink can with bright colors with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Place the green red metallic soda can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Pick up the small soda can with lime graphics using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the drink can with bright colors, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the smooth cylindrical can with lime pattern, place it in the yellow basket, and then lift the yellow basket.", + "Grab the soda can with lime illustration, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab and drop the metal can with pull-tab top in the yellow basket, lift the yellow basket.", + "Grab the metal can with pull-tab top, drop it into the handheld basket, and raise the handheld basket.", + "Use the right arm to hold the drink can with bright colors, drop the drink can with bright colors into the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the metallic drink can with pull-tab, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the right arm to grab the can with red green label, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Take the small soda can with lime graphics, place it into the yellow basket, then lift the yellow basket.", + "Lift the metallic drink can with pull-tab, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the green red metallic soda can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Grab the metal can with pull-tab top, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the yellow basket, lift the yellow basket with another arm.", + "Grab the red green can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the soda can with lime illustration, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the drink can with bright colors using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to pick the smooth cylindrical can with lime pattern, place it inside the plastic basket, then lift the plastic basket.", + "Lift the red green can, place it in the basket with black handle, and raise the basket with black handle.", + "Take the smooth cylindrical can with lime pattern and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the small soda can with lime graphics, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Grab the green red metallic soda can using the right arm, drop the green red metallic soda can into the yellow basket and lift the yellow basket.", + "Grab the drink can with bright colors, set it into the plastic basket, then raise the plastic basket.", + "Place the drink can with bright colors inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the can with red green label, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the red green beverage can, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick the soda can with lime illustration, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Place the metal can with pull-tab top in the basket with black handle and then lift the basket with black handle.", + "Lift the small soda can with lime graphics, place it in the handheld basket, pick up the handheld basket afterward.", + "Take the red green can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the red green can with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Pick up the can with red green label, put it into the handheld basket, and lift the handheld basket.", + "Use the right arm to take the soda can with lime illustration, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the soda can with lime illustration with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick the metallic drink can with pull-tab with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the red green can, set it into the handheld basket, and raise the handheld basket.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Drop the beverage can with red green graphics into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Pick up the can with red green label, put it in the plastic basket, and lift the plastic basket.", + "Hold the colorful can with lime and orange design using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the red green beverage can, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red green can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Use the same arm to grab the green red metallic soda can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Use the right arm for the metal can with pull-tab top, place the metal can with pull-tab top in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red green beverage can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red green can with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the metal can with pull-tab top, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the smooth cylindrical can with lime pattern with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Place the drink can with bright colors in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the beverage can with red green graphics, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the small soda can with lime graphics, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the beverage can with red green graphics, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab and drop the drink can with bright colors in the basket with black handle, lift the basket with black handle.", + "Grab the drink can with bright colors, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Use the right arm to hold the smooth cylindrical can with lime pattern, drop the smooth cylindrical can with lime pattern into the yellow basket, and lift the yellow basket.", + "Lift the drink can with bright colors, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Use the right arm to grab the soda can with lime illustration, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Take the small soda can with lime graphics, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red green beverage can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Lift the drink can with bright colors, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Grab the red green can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Use the right arm to grab the colorful can with lime and orange design and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the colorful can with lime and orange design, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the beverage can with red green graphics, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Pick the small soda can with lime graphics using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to pick the green red metallic soda can, place it inside the yellow basket, then lift the yellow basket.", + "Lift the can with red green label, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the red green can and put it in the yellow basket, then lift the yellow basket.", + "Lift the can with red green label, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the handheld basket and lift the handheld basket.", + "Grab the soda can with lime illustration, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Place the beverage can with red green graphics inside the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the metal can with pull-tab top, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the red green beverage can, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Pick the drink can with bright colors, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Place the drink can with bright colors in the basket with black handle and then lift the basket with black handle.", + "Lift the metallic drink can with pull-tab, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Take the soda can with lime illustration with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the small soda can with lime graphics with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket." + ], + "unseen": [ + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..f88b14e4874105888002be778f891374fe2a1aa7 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red and gold cylindrical can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick up the metallic soda can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the right arm to grab the gold patterned beverage can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Drop the red can with gold illustrations into the smooth ribbed light brown basket using the right arm, then lift the smooth ribbed light brown basket with another arm.", + "Use the same arm to grab the metallic soda can, place in the basket for holding items, and then lift the basket for holding items.", + "Lift the gold-decorated aluminum can with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Take the red can with gold illustrations in the right arm, place it into the basket for holding items, another arm lifts the basket for holding items.", + "Lift the metallic can with rounded edges, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Pick the red beverage can with curved top with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Take the red can with gold illustrations, place it into the brown basket, then lift the brown basket.", + "Pick the gold patterned beverage can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Pick up the red can with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Grab the compact metal drink can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.", + "Pick the gold-decorated aluminum can, set it in the woven basket, then lift the woven basket.", + "Use the right arm to take the compact metal drink can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the red can with gold illustrations and put it in the basket with loop handle, then lift the basket with loop handle.", + "Grab the gold-decorated aluminum can, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Use the right arm to grab the palm-sized drink can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Use the right arm to grab the gold-decorated aluminum can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Pick the metallic can with rounded edges with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Place the red and gold cylindrical can in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Lift the bright red drink container can, place it in the basket with handle, and raise the basket with handle.", + "Lift the gold-decorated aluminum can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Pick up the metallic can with rounded edges, place it in the basket with handle, and then lift the basket with handle.", + "Grab and drop the bright red drink container can in the basket with loop handle, lift the basket with loop handle.", + "Grab the red can, drop it into the basket for holding items, and raise the basket for holding items.", + "Grab the palm-sized drink can, drop it into the brown basket, and raise the brown basket with the other arm.", + "Lift the red beverage can with curved top, drop it into the woven basket, then carry the woven basket.", + "Use the right arm to grab the compact metal drink can, put it into the woven basket, and lift the woven basket with another arm.", + "Grab the gold patterned beverage can, set it into the basket with loop handle, then raise the basket with loop handle.", + "Pick the red can with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Pick up the metallic can with rounded edges, put it in the basket with handle, and lift the basket with handle.", + "Use the right arm to pick the metallic soda can, place it inside the brown basket, then lift the brown basket.", + "Grab the bright red drink container can with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the metallic soda can using the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.", + "Hold the bright red drink container can using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the smooth red soda can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.", + "Grab the palm-sized drink can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Grab the red and gold cylindrical can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the compact metal drink can with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Grab the metallic soda can, place it in the basket with loop handle, and then lift the basket with loop handle.", + "Pick up the red and gold cylindrical can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Lift the gold-decorated aluminum can, set it in the basket with handle, and elevate the basket with handle.", + "Place the red and gold cylindrical can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Pick the compact metal drink can using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Lift the red beverage can with curved top, place it inside the basket made of woven wood, and elevate the basket made of woven wood.", + "Place the red and gold cylindrical can in the woven basket and then lift the woven basket.", + "Pick up the gold patterned beverage can, put it into the basket with handle, and lift the basket with handle.", + "Pick up the metallic can with rounded edges, place it into the basket for holding items, then lift the basket for holding items.", + "Use the right arm to grab the red can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.", + "Drop the gold-decorated aluminum can into the basket with handle using the right arm, then lift the basket with handle with another arm.", + "Use the same arm to grab the red and gold cylindrical can, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Lift the red beverage can with curved top with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Take the red beverage can with curved top in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Lift the smooth red soda can, put it in the basket with loop handle, and carry the basket with loop handle afterward.", + "Pick the smooth red soda can with the right arm, set it in the basket with handle, and lift the basket with handle using another arm.", + "Take the metallic soda can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Pick the red and gold cylindrical can, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Pick up the bright red drink container can with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Grab the palm-sized drink can, place it in the brown basket, and lift the brown basket upwards.", + "Pick the palm-sized drink can, set it in the brown basket, then lift the brown basket.", + "Use the right arm to take the metallic can with rounded edges, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Take the red can and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the red beverage can with curved top, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.", + "Use the right arm to grab the gold-decorated aluminum can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Use the right arm to grab the gold patterned beverage can, place it in the woven basket, and lift the woven basket.", + "Pick the gold-decorated aluminum can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Place the palm-sized drink can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.", + "Lift the palm-sized drink can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Lift the gold patterned beverage can, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Pick up the smooth red soda can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Grab and drop the metallic can with rounded edges in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.", + "Grab the red and gold cylindrical can, drop it into the basket for holding items, and raise the basket for holding items.", + "Grab the smooth red soda can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Lift the red beverage can with curved top, drop it into the brown basket, then carry the brown basket.", + "Use the right arm to grab the gold-decorated aluminum can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Grab the compact metal drink can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.", + "Pick the gold-decorated aluminum can with the right arm, drop it in the basket for holding items, lift the basket for holding items with another arm.", + "Pick up the metallic can with rounded edges, put it in the brown basket, and lift the brown basket.", + "Use the right arm to pick the metallic can with rounded edges, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red can with the right arm, put it into the woven basket, and lift the woven basket with the other arm.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the gold patterned beverage can using the right arm, drop it into the woven basket, and lift the woven basket with the other arm.", + "Hold the palm-sized drink can using the right arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Take the bright red drink container can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Grab the metallic can with rounded edges, drop it into the brown basket, then use another arm for the brown basket.", + "Grab the compact metal drink can, put it in the basket for carrying things, then raise the basket for carrying things.", + "Use the right arm for the red and gold cylindrical can, place the red and gold cylindrical can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Take the palm-sized drink can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.", + "Grab the red and gold cylindrical can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the smooth red soda can, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the smooth red soda can, set it in the basket with loop handle, and elevate the basket with loop handle.", + "Place the red can inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the palm-sized drink can using the right arm, drop the palm-sized drink can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick the red beverage can with curved top using the right arm, drop it in the basket with handle, and lift the basket with handle with the other arm.", + "Lift the gold-decorated aluminum can, place it inside the brown basket, and elevate the brown basket.", + "Place the compact metal drink can in the woven basket and then lift the woven basket." + ], + "unseen": [ + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with gold logo design and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the gold and red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the can with gold logo design, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small aluminum can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small aluminum can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the can with gold logo design, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the gold and red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with gold logo design, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with gold logo design, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the basket with rounded edges, and lift the basket.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small aluminum can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with gold logo design and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the gold and red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the gold and red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the small aluminum can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the gold and red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the gold and red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the can with gold logo design, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the can with gold logo design, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the small aluminum can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small aluminum can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the can with gold logo design, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small aluminum can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the gold and red soda can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the small aluminum can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the gold and red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the gold and red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with gold logo design, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the gold and red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with gold logo design and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the gold and red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the gold and red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small aluminum can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the can with gold logo design, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with gold logo design, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the gold and red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small aluminum can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to pick up the small aluminum can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the gold and red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small aluminum can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the gold and red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with gold logo design, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the gold and red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the gold and red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the gold and red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small aluminum can, put it in the basket with rounded edges, then lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..d7978e7400ff411c2b064090f50c92f1ced5d3d3 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the drink can with light brown shade, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Drop the small light brown cylindrical can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Hold the smooth light brown can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the smooth light brown can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Take the hand-sized metallic can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab the drink can with light brown shade, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the metal can with printed white graphics and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the smooth light brown can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Pick up the metal can with white decorative designs, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the smooth light brown can, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Use the same arm to grab the white patterned brown metal can, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the metal can with white decorative designs and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the small light brown cylindrical can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the right arm for the hand-sized metallic can, place the hand-sized metallic can in the basket with black handle, and lift the basket with black handle.", + "Grab the smooth light brown can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Pick the small cylindrical drink container with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Take the hand-sized metallic can, set it into the handheld basket, and raise the handheld basket.", + "Grab the hand-sized metallic can using the right arm, drop the hand-sized metallic can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Use the right arm to take the smooth brown can with rounded edges, drop it in the handheld basket, and lift the handheld basket.", + "Grab the smooth brown can with rounded edges, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Place the drink can with light brown shade in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the metal can with printed white graphics with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Pick the smooth light brown can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the right arm to grab the hand-sized metallic can, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the rounded metallic can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Lift the smooth light brown can, drop it into the yellow basket, then carry the yellow basket.", + "Place the white patterned brown metal can inside the basket with black handle, then lift the basket with black handle.", + "Lift the metal can with white decorative designs, place it in the plastic basket, and raise the plastic basket.", + "Use the right arm to hold the rounded metallic can, drop the rounded metallic can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the metal can with white decorative designs, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the metal can with printed white graphics, put it into the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the metal can with printed white graphics, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the small light brown cylindrical can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Take the metal can with printed white graphics, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the smooth light brown can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the metal can with printed white graphics, place it in the handheld basket, pick up the handheld basket afterward.", + "Place the small cylindrical drink container in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the smooth brown can with rounded edges with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the smooth brown can with rounded edges with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab and drop the rounded metallic can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Grab the small cylindrical drink container, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick up the smooth light brown can, put it in the yellow basket, and lift the yellow basket.", + "Pick up the small cylindrical drink container, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the small cylindrical drink container, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick the brown can, set it in the plastic basket, then lift the plastic basket.", + "Grab the light brown can with smooth texture, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Grab the smooth brown can with rounded edges with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the small light brown cylindrical can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Pick the metal can with white decorative designs using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the brown can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Use the right arm to pick the rounded metallic can, place it inside the handheld basket, then lift the handheld basket.", + "Drop the small light brown cylindrical can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Hold the smooth light brown can using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the metal can with white decorative designs, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Take the metal can with white decorative designs in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab the small cylindrical drink container, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the metal can with printed white graphics and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the white patterned brown metal can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Pick up the metal can with white decorative designs, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the metal can with printed white graphics, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the same arm to grab the metal can with printed white graphics, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to grab the brown can and place in the yellow basket, lift the yellow basket with another arm.", + "Lift the small cylindrical drink container, place it inside the plastic basket, and elevate the plastic basket.", + "Use the right arm for the brown can, place the brown can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the light brown can with smooth texture, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick the hand-sized metallic can with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Take the light brown can with smooth texture, set it into the basket with black handle, and raise the basket with black handle.", + "Grab the rounded metallic can using the right arm, drop the rounded metallic can into the plastic basket and lift the plastic basket.", + "Use the right arm to take the metal can with printed white graphics, drop it in the yellow basket, and lift the yellow basket.", + "Grab the small cylindrical drink container, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Place the metal can with white decorative designs in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Lift the small light brown cylindrical can with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the metal can with white decorative designs with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to grab the drink can with light brown shade, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the rounded metallic can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the small light brown cylindrical can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Place the drink can with light brown shade inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white patterned brown metal can, place it in the plastic basket, and raise the plastic basket.", + "Use the right arm to hold the small light brown cylindrical can, drop the small light brown cylindrical can into the bright yellow basket, and lift the bright yellow basket.", + "Grab the hand-sized metallic can, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the hand-sized metallic can, put it into the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the metal can with printed white graphics, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Grab the smooth light brown can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Take the metal can with white decorative designs, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the metal can with white decorative designs, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white patterned brown metal can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Place the smooth light brown can in the basket with arched black grip and then lift the basket with arched black grip.", + "Take the brown can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the small cylindrical drink container with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Grab and drop the light brown can with smooth texture in the basket with arched black grip, lift the basket with arched black grip.", + "Grab the brown can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Pick up the metal can with white decorative designs, put it in the yellow basket, and lift the yellow basket.", + "Pick up the hand-sized metallic can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the rounded metallic can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick the hand-sized metallic can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the small light brown cylindrical can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Grab the small light brown cylindrical can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm to grab the brown can, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Pick the metal can with white decorative designs using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Pick up the smooth brown can with rounded edges with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface." + ], + "unseen": [ + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..261c11bc1df64df52f96a75280e8433f131899a7 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth red can, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Pick up the red and white beverage can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the red shiny can with green label, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the can with flat silver bottom in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the basket with arched black grip, and lift the basket with arched black grip.", + "Place the red drink can with white lid in the basket with black handle and then lift the basket with black handle.", + "Pick the smooth red can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red drink can with white lid, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Use the same arm to grab the drink can with smooth red finish, place in the handheld basket, and then lift the handheld basket.", + "Lift the red soda can with green accents, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Lift the red shiny can with green label, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick up the metal can with red base, place it in the plastic basket, and then lift the plastic basket.", + "Grab the medium-sized soda can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the red can with decorative label, set it into the plastic basket, then raise the plastic basket.", + "Pick the red can with decorative label with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the right arm to grab the red shiny can with green label, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Grab the red can with decorative label, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Take the drink can with smooth red finish with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Grab and drop the metal can with red base in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Pick the red drink can with white lid with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Hold the red and white beverage can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the can with flat silver bottom with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the smooth red can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the cylindrical can with flat surfaces using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the cylindrical can with flat surfaces, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the red soda can with green accents and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm for the cylindrical metal can, place the cylindrical metal can in the basket with arched black grip, and lift the basket with arched black grip.", + "Drop the medium-sized soda can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Grab the red can with decorative label, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab the medium-sized soda can using the right arm, drop the medium-sized soda can into the basket with perforated sides and lift the basket with perforated sides.", + "Pick up the can with flat silver bottom, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to pick the medium-sized soda can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Place the red soda can with green accents inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the red soda can with green accents, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the medium-sized soda can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Take the metal can with red base in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Pick the red drink can with white lid, set it in the plastic basket, then lift the plastic basket.", + "Pick the red drink can with white lid with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the can with flat silver bottom, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the right arm to take the red drink can with white lid, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the red can with decorative label, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Lift the drink can with smooth red finish, drop it into the handheld basket, then carry the handheld basket.", + "Lift the red shiny can with green label with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Lift the red soda can with green accents, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Use the right arm to grab the metal can with red base, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the cylindrical can with flat surfaces with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Use the right arm to grab the red and white beverage can, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Use the right arm to grab the can with flat silver bottom and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick up the cylindrical metal can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the red shiny can with green label, place it in the yellow basket, pick up the yellow basket afterward.", + "Pick the smooth red can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Pick up the medium-sized soda can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the can with flat silver bottom, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the medium-sized soda can in the plastic basket and then use another arm to lift the plastic basket.", + "Use the right arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the red can with decorative label in the basket with black handle and then lift the basket with black handle.", + "Pick the red shiny can with green label using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the drink can with smooth red finish, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Use the same arm to grab the metal can with red base, place in the plastic basket, and then lift the plastic basket.", + "Lift the metal can with red base, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Lift the red and white beverage can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the can with flat silver bottom, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the smooth red can, drop it into the plastic basket, and raise the plastic basket.", + "Grab the metal can with red base, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the drink can with smooth red finish with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Use the right arm to grab the drink can with smooth red finish, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab the medium-sized soda can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Take the cylindrical can with flat surfaces with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab and drop the red and white beverage can in the handheld basket, lift the handheld basket.", + "Pick the metal can with red base with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Hold the smooth red can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab the can with flat silver bottom with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the can with flat silver bottom, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the cylindrical metal can using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the medium-sized soda can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the can with flat silver bottom and put it in the handheld basket, then lift the handheld basket.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the handheld basket, and lift the handheld basket.", + "Drop the smooth red can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Grab the red shiny can with green label, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Grab the red soda can with green accents using the right arm, drop the red soda can with green accents into the bright yellow basket and lift the bright yellow basket.", + "Pick up the cylindrical metal can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to pick the cylindrical metal can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Place the red and white beverage can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red shiny can with green label, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the red can with decorative label, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the cylindrical can with flat surfaces in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick the red can with decorative label, set it in the basket with black handle, then lift the basket with black handle.", + "Pick the metal can with red base with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the red shiny can with green label, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Use the right arm to take the cylindrical metal can, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the cylindrical metal can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Lift the red shiny can with green label, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the red shiny can with green label with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Lift the red can with decorative label, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Use the right arm to grab the red and white beverage can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the smooth red can with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Use the right arm to grab the cylindrical can with flat surfaces, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Use the right arm to grab the cylindrical metal can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the can with flat silver bottom, set it inside the plastic basket, then lift the plastic basket.", + "Lift the cylindrical metal can, place it in the bright yellow basket, pick up the bright yellow basket afterward." + ], + "unseen": [ + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..691fea640175e37a079ffaaaf62b203270dfc4d0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the can with rounded cylindrical shape inside the plastic basket, then lift the plastic basket.", + "Grab the can with rounded cylindrical shape, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to take the cylindrical white glossy can, drop it in the basket with black handle, and lift the basket with black handle.", + "Pick up the can with gold top lid, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the can with sealed gold top, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Take the can with red-orange text, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the beverage can with printed label, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick the smooth white can with accents, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Take the cylindrical white glossy can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the white can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Grab the medium metal can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Grab the can with rounded cylindrical shape, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Lift the can with sealed gold top, place it in the bright yellow basket, and raise the bright yellow basket.", + "Lift the can with sealed gold top, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick the red-orange text on white can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the small white can with branding, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the smooth white can with accents, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the white can, place it in the handheld basket, pick up the handheld basket afterward.", + "Pick the beverage can with printed label with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Place the can with gold top lid in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the can with red-orange text, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick the smooth white can with accents with the right arm, drop it in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Take the white can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the smooth white can with accents, set it in the plastic basket, then lift the plastic basket.", + "Pick up the red-orange text on white can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the same arm to grab the white can, place in the yellow basket, and then lift the yellow basket.", + "Use the right arm to pick the white can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab and drop the cylindrical white glossy can in the basket with perforated sides, lift the basket with perforated sides.", + "Lift the smooth white can with accents, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the red-orange text on white can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the can with gold top lid, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the can with gold top lid with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Grab the medium metal can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Place the can with rounded cylindrical shape in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Drop the can with gold top lid into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Pick the medium metal can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Take the cylindrical white glossy can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Hold the small white can with branding using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the can with sealed gold top, place it in the plastic basket, and lift the plastic basket.", + "Pick up the white can using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick up the smooth white can with accents, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the small white can with branding using the right arm, drop the small white can with branding into the basket with arched black grip and lift the basket with arched black grip.", + "Lift the red-orange text on white can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Lift the can with rounded cylindrical shape with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Take the white can with 3D RADY label in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the can with gold top lid, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Place the medium metal can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the beverage can with printed label, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the right arm to take the medium metal can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the medium metal can, put it into the plastic basket, and lift the plastic basket.", + "Lift the can with gold top lid, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Take the can with rounded cylindrical shape, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the can with gold top lid, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick the cylindrical white glossy can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Take the white can with 3D RADY label and put it in the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the small white can with branding, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Grab the can with red-orange text, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Grab the small white can with branding, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the can with rounded cylindrical shape, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the cylindrical white glossy can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick the can with red-orange text with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the can with sealed gold top, put it in the handheld basket, then raise the handheld basket.", + "Use the right arm for the medium metal can, place the medium metal can in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the can with rounded cylindrical shape, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Lift the smooth white can with accents, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick the can with gold top lid with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Place the can with red-orange text in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the right arm to hold the small white can with branding, drop the small white can with branding into the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the white can, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Pick the white can with 3D RADY label with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the medium metal can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the cylindrical white glossy can, set it in the plastic basket, then lift the plastic basket.", + "Pick up the medium metal can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the same arm to grab the white can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Use the right arm to pick the can with red-orange text, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab and drop the white can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Lift the smooth white can with accents, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the smooth white can with accents, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the can with rounded cylindrical shape with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Grab the small white can with branding, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the smooth white can with accents and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Place the beverage can with printed label in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Drop the can with rounded cylindrical shape into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Pick the white can with 3D RADY label using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Take the can with rounded cylindrical shape with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Hold the small white can with branding using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the medium metal can, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the can with red-orange text using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the can with gold top lid, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the beverage can with printed label using the right arm, drop the beverage can with printed label into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Lift the medium metal can, place it inside the handheld basket, and elevate the handheld basket.", + "Pick up the beverage can with printed label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the can with gold top lid with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Take the medium metal can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Grab the smooth white can with accents, drop it into the rectangular yellow basket, and raise the rectangular yellow basket." + ], + "unseen": [ + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..98f6941003b6e7f011b2aa12886b176e709a1905 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the cylindrical metal can, place it inside the yellow basket, then lift the yellow basket.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the drink can with smooth red finish, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick up the red can with decorative label, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the red drink can with white lid, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Take the metal can with red base, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red and white beverage can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to grab the drink can with smooth red finish, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the red soda can with green accents, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to take the medium-sized soda can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the red can with decorative label and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the red and white beverage can using the right arm, drop the red and white beverage can into the handheld basket and lift the handheld basket.", + "Place the smooth red can in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Take the red drink can with white lid in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab the can with flat silver bottom, set it into the yellow basket, then raise the yellow basket.", + "Grab the cylindrical metal can, put it in the plastic basket, then raise the plastic basket.", + "Take the can with flat silver bottom, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Place the can with flat silver bottom in the basket with black handle and then lift the basket with black handle.", + "Use the right arm for the can with flat silver bottom, place the can with flat silver bottom in the handheld basket, and lift the handheld basket.", + "Grab and drop the smooth red can in the yellow basket, lift the yellow basket.", + "Grab the red and white beverage can, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Use the same arm to grab the smooth red can, place in the handheld basket, and then lift the handheld basket.", + "Grab the metal can with red base, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the can with flat silver bottom, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Pick the cylindrical can with flat surfaces, set it in the yellow basket, then lift the yellow basket.", + "Pick the can with flat silver bottom with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Lift the red and white beverage can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Use the right arm to grab the cylindrical metal can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the can with flat silver bottom, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the can with flat silver bottom with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Grab the metal can with red base, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Grab the red can with decorative label, drop it into the plastic basket, and raise the plastic basket.", + "Hold the metal can with red base using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the cylindrical metal can, set it inside the handheld basket, then lift the handheld basket.", + "Pick the can with flat silver bottom, set it in the plastic basket, and lift the plastic basket upward.", + "Place the cylindrical metal can inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the cylindrical can with flat surfaces, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Pick up the red soda can with green accents, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the medium-sized soda can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the drink can with smooth red finish with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick up the medium-sized soda can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red and white beverage can and place in the handheld basket, lift the handheld basket with another arm.", + "Lift the drink can with smooth red finish, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Lift the red drink can with white lid, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the can with flat silver bottom, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Take the can with flat silver bottom with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Drop the smooth red can into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Grab the red drink can with white lid, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Pick the red shiny can with green label using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the right arm to pick the red drink can with white lid, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to hold the red shiny can with green label, drop the red shiny can with green label into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the metal can with red base, place it in the bright yellow basket, and raise the bright yellow basket.", + "Pick up the can with flat silver bottom, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the can with flat silver bottom, place it inside the handheld basket, and elevate the handheld basket.", + "Take the metal can with red base, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red drink can with white lid with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the metal can with red base, place it in the handheld basket, and lift the handheld basket.", + "Pick up the drink can with smooth red finish, place it in the yellow basket, and then lift the yellow basket.", + "Use the right arm to take the red shiny can with green label, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the cylindrical can with flat surfaces and put it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the red and white beverage can using the right arm, drop the red and white beverage can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Place the red can with decorative label in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Take the red drink can with white lid in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Grab the drink can with smooth red finish, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the red can with decorative label, put it in the yellow basket, then raise the yellow basket.", + "Take the red drink can with white lid, set it into the bright yellow basket, and raise the bright yellow basket.", + "Place the cylindrical metal can in the basket with arched black grip and then lift the basket with arched black grip.", + "Use the right arm for the red drink can with white lid, place the red drink can with white lid in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab and drop the red shiny can with green label in the plastic basket, lift the plastic basket.", + "Grab the medium-sized soda can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick the red and white beverage can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the same arm to grab the red can with decorative label, place in the plastic basket, and then lift the plastic basket.", + "Grab the red can with decorative label, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the smooth red can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick the can with flat silver bottom, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the red drink can with white lid with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the drink can with smooth red finish with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the right arm to grab the can with flat silver bottom, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Lift the smooth red can, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the smooth red can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the drink can with smooth red finish, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab the red soda can with green accents, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Hold the red soda can with green accents using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick up the can with flat silver bottom, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the can with flat silver bottom, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Place the red drink can with white lid inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the can with flat silver bottom, put it in the plastic basket, and carry the plastic basket afterward.", + "Pick up the red and white beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the red can with decorative label using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the drink can with smooth red finish with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the red shiny can with green label, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to grab the red and white beverage can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the medium-sized soda can, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Lift the cylindrical can with flat surfaces, set it in the basket with black handle, and elevate the basket with black handle.", + "Use the right arm to grab the cylindrical can with flat surfaces, put it into the yellow basket, and lift the yellow basket with another arm.", + "Take the red drink can with white lid with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Drop the red shiny can with green label into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Grab the red can with decorative label, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick the red can with decorative label using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm." + ], + "unseen": [ + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can with white top, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with red body, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..d32c191b32157854539be11e4613b4f2a9f57cb0 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and drop the can with rounded cylindrical shape in the handheld basket, lift the handheld basket.", + "Pick up the medium metal can with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the medium metal can, place it in the yellow basket, and then lift the yellow basket.", + "Pick the white can with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Place the cylindrical white glossy can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick the small white can with branding, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the smooth white can with accents with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the smooth white can with accents, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Use the right arm to hold the red-orange text on white can, drop the red-orange text on white can into the bright yellow basket, and lift the bright yellow basket.", + "Grab the beverage can with printed label, drop it into the handheld basket, and raise the handheld basket.", + "Grab the white can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Place the can with gold top lid in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Take the can with red-orange text, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the white can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the same arm to grab the can with sealed gold top, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the small white can with branding, put it in the yellow basket, then raise the yellow basket.", + "Grab the smooth white can with accents, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Take the smooth white can with accents and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the small white can with branding using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the can with rounded cylindrical shape, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Pick up the smooth white can with accents, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to take the can with gold top lid, drop it in the plastic basket, and lift the plastic basket.", + "Pick up the can with red-orange text using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the can with rounded cylindrical shape, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Use the right arm to grab the white can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the beverage can with printed label, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Take the can with gold top lid with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to pick the beverage can with printed label, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the small white can with branding, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the small white can with branding using the right arm, drop the small white can with branding into the basket with black handle and lift the basket with black handle.", + "Lift the white can with 3D RADY label, place it inside the plastic basket, and elevate the plastic basket.", + "Drop the cylindrical white glossy can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Place the medium metal can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the small white can with branding with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Pick up the medium metal can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the can with gold top lid, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the red-orange text on white can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm for the can with gold top lid, place the can with gold top lid in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to grab the medium metal can and place in the plastic basket, lift the plastic basket with another arm.", + "Grab the can with sealed gold top, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Use the right arm to grab the white can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Grab the cylindrical white glossy can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick up the can with rounded cylindrical shape, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the white can with 3D RADY label, place it in the basket with black handle, and raise the basket with black handle.", + "Lift the medium metal can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Pick up the white can, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the can with rounded cylindrical shape in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Hold the smooth white can with accents using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab and drop the medium metal can in the basket with arched black grip, lift the basket with arched black grip.", + "Pick up the white can with 3D RADY label with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Grab the can with sealed gold top, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick the white can with 3D RADY label with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Place the red-orange text on white can in the plastic basket and then lift the plastic basket.", + "Pick the beverage can with printed label, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white can with 3D RADY label with the right arm, set it in the plastic basket, and lift with another arm.", + "Grab the white can with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the beverage can with printed label, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the white can, drop it into the plastic basket, and raise the plastic basket.", + "Grab the can with gold top lid, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Place the smooth white can with accents in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Take the medium metal can, place it into the plastic basket, then lift the plastic basket.", + "Pick up the can with gold top lid, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the same arm to grab the small white can with branding, place in the yellow basket, and then lift the yellow basket.", + "Grab the white can, put it in the yellow basket, then raise the yellow basket.", + "Grab the red-orange text on white can, place it in the yellow basket, and lift the yellow basket upwards.", + "Take the red-orange text on white can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the can with rounded cylindrical shape using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the white can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the cylindrical white glossy can, put it into the basket with black handle, and lift the basket with black handle.", + "Pick the can with rounded cylindrical shape with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to take the red-orange text on white can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the red-orange text on white can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the can with sealed gold top, set it in the basket with black handle, and lift the basket with black handle upward.", + "Use the right arm to grab the white can with 3D RADY label, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to grab the smooth white can with accents, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Take the can with red-orange text with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to pick the smooth white can with accents, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the can with rounded cylindrical shape, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the medium metal can using the right arm, drop the medium metal can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Lift the small white can with branding, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Drop the can with gold top lid into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Place the medium metal can inside the basket with black handle, then lift the basket with black handle.", + "Pick the white can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick up the smooth white can with accents, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the white can with 3D RADY label, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Lift the smooth white can with accents, set it in the plastic basket, and elevate the plastic basket.", + "Use the right arm for the red-orange text on white can, place the red-orange text on white can in the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the cylindrical white glossy can and place in the handheld basket, lift the handheld basket with another arm.", + "Grab the can with sealed gold top, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Use the right arm to grab the medium metal can, put it into the yellow basket, and lift the yellow basket with another arm.", + "Grab the beverage can with printed label, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the red-orange text on white can, place it into the plastic basket, then lift the plastic basket.", + "Lift the red-orange text on white can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the red-orange text on white can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick up the can with gold top lid, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Take the can with gold top lid in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Hold the medium metal can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket." + ], + "unseen": [ + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4ef1bd538c086a297382f6bba4168a4a332e32 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small white can with branding in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Use the right arm for the smooth white can with accents, place the smooth white can with accents in the brown basket, and lift the brown basket.", + "Grab the small white can with branding, place it in the woven basket, and lift the woven basket upwards.", + "Use the same arm to grab the beverage can with printed label, place in the brown basket, and then lift the brown basket.", + "Take the red-orange text on white can, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the small white can with branding, place it in the basket with handle, and then lift the basket with handle.", + "Use the right arm to pick the can with sealed gold top, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the smooth white can with accents using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick the small white can with branding with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.", + "Pick up the smooth white can with accents, put it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the beverage can with printed label with the right arm, set it in the smooth ribbed light brown basket, and lift with another arm.", + "Take the white can with the right arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.", + "Use the right arm to grab the medium metal can and place in the basket for carrying things, lift the basket for carrying things with another arm.", + "Grab and drop the smooth white can with accents in the brown basket, lift the brown basket.", + "Take the smooth white can with accents and put it in the basket with loop handle, then lift the basket with loop handle.", + "Pick the can with red-orange text, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Drop the white can into the light brown oval basket using the right arm, then lift the light brown oval basket with another arm.", + "Pick up the can with red-orange text, place it in the brown basket, and then lift the brown basket.", + "Lift the cylindrical white glossy can, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Use the right arm to grab the white can with 3D RADY label, place it in the brown basket, and lift the brown basket.", + "Place the can with red-orange text inside the woven basket, then lift the woven basket.", + "Grab the can with gold top lid, put it in the woven basket, then raise the woven basket.", + "Use the right arm to grab the can with sealed gold top, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.", + "Grab the medium metal can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Pick up the red-orange text on white can with the right arm, place into the brown basket, the other arm raises the brown basket.", + "Lift the smooth white can with accents, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the can with red-orange text, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.", + "Place the white can with 3D RADY label in the basket with handle and then use another arm to lift the basket with handle.", + "Grab the can with sealed gold top, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Lift the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Pick up the beverage can with printed label, place it into the basket made of woven wood, then lift the basket made of woven wood.", + "Use the right arm to hold the smooth white can with accents, drop the smooth white can with accents into the basket made of woven wood, and lift the basket made of woven wood.", + "Grab the can with red-orange text, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the can with rounded cylindrical shape, set it inside the brown basket, then lift the brown basket.", + "Pick up the can with rounded cylindrical shape, put it into the basket with loop handle, and lift the basket with loop handle.", + "Lift the can with gold top lid, place it in the basket made of woven wood, and raise the basket made of woven wood.", + "Pick the white can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.", + "Pick the white can using the right arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Lift the smooth white can with accents, set it in the basket for holding items, and elevate the basket for holding items.", + "Pick the smooth white can with accents with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the small white can with branding, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Hold the can with red-orange text using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to grab the medium metal can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.", + "Lift the can with gold top lid, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Use the right arm to take the medium metal can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick the red-orange text on white can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Grab the red-orange text on white can using the right arm, drop the red-orange text on white can into the basket with handle and lift the basket with handle.", + "Place the red-orange text on white can in the basket for carrying things and then lift the basket for carrying things.", + "Take the red-orange text on white can, set it into the brown basket, and raise the brown basket.", + "Take the cylindrical white glossy can in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Use the right arm for the red-orange text on white can, place the red-orange text on white can in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the small white can with branding, place it in the light brown oval basket, and lift the light brown oval basket upwards.", + "Use the same arm to grab the cylindrical white glossy can, place in the woven basket, and then lift the woven basket.", + "Take the cylindrical white glossy can, place it into the basket with handle, then lift the basket with handle.", + "Grab the white can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the right arm to pick the beverage can with printed label, place it inside the basket with handle, then lift the basket with handle.", + "Pick up the can with red-orange text using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the red-orange text on white can with the right arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick up the small white can with branding, put it in the basket for holding items, and lift the basket for holding items.", + "Lift the smooth white can with accents with the right arm, set it in the basket with handle, and lift with another arm.", + "Take the smooth white can with accents with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Use the right arm to grab the medium metal can and place in the basket with handle, lift the basket with handle with another arm.", + "Grab and drop the cylindrical white glossy can in the basket made of woven wood, lift the basket made of woven wood.", + "Take the white can with 3D RADY label and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Pick the can with sealed gold top, set it in the basket with handle, then lift the basket with handle.", + "Drop the medium metal can into the brown basket using the right arm, then lift the brown basket with another arm.", + "Pick up the can with rounded cylindrical shape, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Lift the can with rounded cylindrical shape, drop it into the basket with loop handle, then carry the basket with loop handle.", + "Use the right arm to grab the medium metal can, place it in the basket for holding items, and lift the basket for holding items.", + "Place the can with rounded cylindrical shape inside the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the can with rounded cylindrical shape, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Use the right arm to grab the beverage can with printed label, put it into the brown basket, and lift the brown basket with another arm.", + "Grab the white can with 3D RADY label, drop it into the basket with handle, then use another arm for the basket with handle.", + "Pick up the red-orange text on white can with the right arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.", + "Lift the can with rounded cylindrical shape, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Grab the red-orange text on white can, place it in the basket with handle, and raise the basket with handle using the other arm.", + "Place the beverage can with printed label in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Grab the can with rounded cylindrical shape, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Lift the can with red-orange text, place it in the brown basket, pick up the brown basket afterward.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick up the small white can with branding, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Use the right arm to hold the can with red-orange text, drop the can with red-orange text into the light brown oval basket, and lift the light brown oval basket.", + "Grab the smooth white can with accents, set it into the brown basket, then raise the brown basket.", + "Pick up the small white can with branding, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Pick up the white can with 3D RADY label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Lift the white can with 3D RADY label, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick the beverage can with printed label with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Pick the medium metal can using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Lift the can with sealed gold top, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Pick the can with gold top lid with the right arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.", + "Grab the medium metal can, drop it into the basket made of woven wood, and raise the basket made of woven wood.", + "Hold the can with gold top lid using the right arm, place it in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm to grab the white can, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Lift the white can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.", + "Use the right arm to take the beverage can with printed label, drop it in the basket with handle, and lift the basket with handle.", + "Pick the red-orange text on white can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the basket for holding items and lift the basket for holding items.", + "Place the can with rounded cylindrical shape in the woven basket and then lift the woven basket.", + "Take the can with sealed gold top, set it into the basket made of woven wood, and raise the basket made of woven wood." + ], + "unseen": [ + "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..0b45d833e81cc69d9a9ec458406fc73ef38f5947 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the metallic drink can with pull-tab with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the metal can with pull-tab top, put it in the basket with black handle, then raise the basket with black handle.", + "Grab the beverage can with red green graphics, place it in the yellow basket, and lift the yellow basket upwards.", + "Pick the green red metallic soda can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the drink can with bright colors, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the red green can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Grab the metal can with pull-tab top, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the smooth cylindrical can with lime pattern, set it into the handheld basket, then raise the handheld basket.", + "Pick up the metallic drink can with pull-tab, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the can with red green label, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Use the right arm to hold the red green beverage can, drop the red green beverage can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the drink can with bright colors, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the green red metallic soda can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the green red metallic soda can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Place the metal can with pull-tab top in the plastic basket and then lift the plastic basket.", + "Grab and drop the metallic drink can with pull-tab in the basket with arched black grip, lift the basket with arched black grip.", + "Grab the can with red green label using the right arm, drop the can with red green label into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Take the red green can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Take the green red metallic soda can in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Pick up the metallic drink can with pull-tab, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the metallic drink can with pull-tab using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Place the red green beverage can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick the can with red green label, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Drop the metal can with pull-tab top into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Lift the smooth cylindrical can with lime pattern, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Pick up the small soda can with lime graphics, place it into the bright yellow basket, then lift the bright yellow basket.", + "Lift the red green can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Lift the drink can with bright colors, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the drink can with bright colors, drop it into the handheld basket, then carry the handheld basket.", + "Lift the colorful can with lime and orange design, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Use the right arm to pick the metal can with pull-tab top, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the small soda can with lime graphics with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the same arm to grab the red green can, place in the basket with black handle, and then lift the basket with black handle.", + "Lift the colorful can with lime and orange design, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the colorful can with lime and orange design inside the yellow basket, then lift the yellow basket.", + "Use the right arm for the red green beverage can, place the red green beverage can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the colorful can with lime and orange design, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the metallic drink can with pull-tab and place in the handheld basket, lift the handheld basket with another arm.", + "Grab the metallic drink can with pull-tab, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Use the right arm to grab the colorful can with lime and orange design, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Use the right arm to grab the metal can with pull-tab top, place it in the yellow basket, and lift the yellow basket.", + "Pick the metallic drink can with pull-tab, set it in the bright yellow basket, then lift the bright yellow basket.", + "Take the smooth cylindrical can with lime pattern, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to take the can with red green label, drop it in the basket with black handle, and lift the basket with black handle.", + "Grab the can with red green label, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Hold the red green beverage can using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the beverage can with red green graphics with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the red green can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Pick the green red metallic soda can with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the can with red green label, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the small soda can with lime graphics, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Pick the beverage can with red green graphics using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Pick up the smooth cylindrical can with lime pattern, put it in the plastic basket, and lift the plastic basket.", + "Grab the can with red green label, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Grab the red green can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the small soda can with lime graphics, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick up the metallic drink can with pull-tab, put it into the yellow basket, and lift the yellow basket.", + "Grab the drink can with bright colors, drop it into the plastic basket, then use another arm for the plastic basket.", + "Use the right arm to hold the red green can, drop the red green can into the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the drink can with bright colors, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the red green can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the metal can with pull-tab top in the yellow basket and then lift the yellow basket.", + "Grab and drop the metal can with pull-tab top in the handheld basket, lift the handheld basket.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the basket with perforated sides and lift the basket with perforated sides.", + "Take the red green beverage can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the colorful can with lime and orange design in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick up the soda can with lime illustration, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the small soda can with lime graphics using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick up the drink can with bright colors with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Place the can with red green label in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick the metal can with pull-tab top, set it in the handheld basket, and lift the handheld basket upward.", + "Drop the smooth cylindrical can with lime pattern into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Lift the green red metallic soda can, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the beverage can with red green graphics, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the red green beverage can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the colorful can with lime and orange design, place it inside the plastic basket, and elevate the plastic basket.", + "Lift the soda can with lime illustration, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Lift the red green beverage can, set it in the yellow basket, and elevate the yellow basket.", + "Use the right arm to pick the can with red green label, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the red green beverage can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the same arm to grab the red green beverage can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the red green can, place it in the handheld basket, and raise the handheld basket.", + "Place the soda can with lime illustration inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm for the small soda can with lime graphics, place the small soda can with lime graphics in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the soda can with lime illustration, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the beverage can with red green graphics and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the can with red green label, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Use the right arm to grab the metal can with pull-tab top, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Use the right arm to grab the can with red green label, place it in the basket with black handle, and lift the basket with black handle.", + "Pick the red green can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the beverage can with red green graphics, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to take the red green can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the colorful can with lime and orange design, drop it into the plastic basket, and raise the plastic basket.", + "Hold the metallic drink can with pull-tab using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Take the small soda can with lime graphics with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick the colorful can with lime and orange design with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Lift the drink can with bright colors, put it in the bright yellow basket, and carry the bright yellow basket afterward." + ], + "unseen": [ + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..34658b28b44c6d2e912ab0b258844ed594a5230b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small white can with branding with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the white can with 3D RADY label using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick the red-orange text on white can, set it in the handheld basket, and lift the handheld basket upward.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the smooth white can with accents, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the same arm to grab the beverage can with printed label, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the white can with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick up the small white can with branding, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the can with gold top lid, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to pick the beverage can with printed label, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the medium metal can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Use the right arm to grab the beverage can with printed label, put it into the handheld basket, and lift the handheld basket with another arm.", + "Grab the small white can with branding, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the can with rounded cylindrical shape inside the basket with black handle, then lift the basket with black handle.", + "Pick up the white can with 3D RADY label using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the can with sealed gold top, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the beverage can with printed label in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Use the right arm to grab the white can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Place the cylindrical white glossy can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Take the white can with 3D RADY label, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the white can with 3D RADY label with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the cylindrical white glossy can, set it inside the handheld basket, then lift the handheld basket.", + "Lift the medium metal can, set it in the yellow basket, and elevate the yellow basket.", + "Pick the cylindrical white glossy can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Place the beverage can with printed label in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape, put it in the handheld basket, then raise the handheld basket.", + "Lift the medium metal can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Grab the white can with 3D RADY label, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Hold the can with sealed gold top using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the smooth white can with accents, drop the smooth white can with accents into the yellow basket, and lift the yellow basket.", + "Pick the white can with 3D RADY label with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the beverage can with printed label, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Pick up the small white can with branding with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the medium metal can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the white can with 3D RADY label, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the medium metal can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Take the red-orange text on white can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the red-orange text on white can, place it inside the handheld basket, and elevate the handheld basket.", + "Lift the cylindrical white glossy can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Lift the small white can with branding, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Pick up the can with gold top lid, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the can with red-orange text, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Pick the can with sealed gold top, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the small white can with branding, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Use the right arm to take the can with red-orange text, drop it in the handheld basket, and lift the handheld basket.", + "Drop the beverage can with printed label into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Use the right arm to grab the white can, place it in the yellow basket, and lift the yellow basket.", + "Take the can with gold top lid and put it in the handheld basket, then lift the handheld basket.", + "Grab and drop the white can in the yellow basket, lift the yellow basket.", + "Grab the white can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the red-orange text on white can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the small white can with branding, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Use the right arm for the can with sealed gold top, place the can with sealed gold top in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the red-orange text on white can, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Use the same arm to grab the beverage can with printed label, place in the basket with black handle, and then lift the basket with black handle.", + "Lift the white can with 3D RADY label with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Pick up the medium metal can, put it into the basket with black handle, and lift the basket with black handle.", + "Take the can with red-orange text, place it into the yellow basket, then lift the yellow basket.", + "Use the right arm to pick the small white can with branding, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the can with sealed gold top, drop it into the handheld basket, then use another arm for the handheld basket.", + "Use the right arm to grab the small white can with branding, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Grab the medium metal can, place it in the handheld basket, and then lift the handheld basket.", + "Place the white can inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the can with gold top lid using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the medium metal can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the can with red-orange text in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Place the can with red-orange text in the handheld basket and then lift the handheld basket.", + "Take the can with red-orange text, set it into the basket with black handle, and raise the basket with black handle.", + "Pick the can with sealed gold top with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the medium metal can, set it inside the handheld basket, then lift the handheld basket.", + "Lift the can with sealed gold top, set it in the basket with black handle, and elevate the basket with black handle.", + "Pick the medium metal can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Place the can with red-orange text in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the can with gold top lid, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Lift the cylindrical white glossy can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Grab the can with gold top lid, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Hold the white can using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red-orange text on white can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the smooth white can with accents, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick up the white can with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the can with red-orange text using the right arm, drop the can with red-orange text into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the red-orange text on white can, put it in the yellow basket, and lift the yellow basket.", + "Pick up the white can, place it in the plastic basket, and then lift the plastic basket.", + "Use the right arm to grab the beverage can with printed label, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Take the beverage can with printed label with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the can with sealed gold top, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the beverage can with printed label, place it in the bright yellow basket, and raise the bright yellow basket.", + "Lift the cylindrical white glossy can, put it in the handheld basket, and carry the handheld basket afterward.", + "Pick up the small white can with branding, place it into the yellow basket, then lift the yellow basket.", + "Grab the can with red-orange text, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick the white can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the beverage can with printed label, place it in the plastic basket, pick up the plastic basket afterward.", + "Use the right arm to take the can with gold top lid, drop it in the basket with black handle, and lift the basket with black handle.", + "Drop the beverage can with printed label into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Use the right arm to grab the cylindrical white glossy can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the can with sealed gold top and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab and drop the cylindrical white glossy can in the yellow basket, lift the yellow basket." + ], + "unseen": [ + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..c8bdba1d0ea2e1c90b823f3d18cdcb3eccac9e59 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the can with red green label with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Grab and drop the green red metallic soda can in the basket with perforated sides, lift the basket with perforated sides.", + "Take the beverage can with red green graphics and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the red green beverage can, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the colorful can with lime and orange design using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the green red metallic soda can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the metallic drink can with pull-tab, place it into the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the beverage can with red green graphics and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the metallic drink can with pull-tab, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the red green beverage can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the red green can, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the red green beverage can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the red green beverage can with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to grab the can with red green label, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Use the right arm to grab the colorful can with lime and orange design, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the small soda can with lime graphics, put it in the handheld basket, and carry the handheld basket afterward.", + "Place the beverage can with red green graphics inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the drink can with bright colors, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Pick up the can with red green label, put it in the yellow basket, and lift the yellow basket.", + "Use the right arm to pick the soda can with lime illustration, place it inside the basket with black handle, then lift the basket with black handle.", + "Grab the smooth cylindrical can with lime pattern, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the metal can with pull-tab top in the plastic basket and then lift the plastic basket.", + "Pick the soda can with lime illustration, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the soda can with lime illustration, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Hold the red green can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab the metal can with pull-tab top, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick the metal can with pull-tab top with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the red green beverage can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Pick the green red metallic soda can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the metal can with pull-tab top, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Take the small soda can with lime graphics, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the drink can with bright colors, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Place the metallic drink can with pull-tab in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Take the beverage can with red green graphics, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm for the small soda can with lime graphics, place the small soda can with lime graphics in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the red green beverage can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick up the metal can with pull-tab top with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the plastic basket, and lift the plastic basket.", + "Use the right arm to take the red green can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the smooth cylindrical can with lime pattern, set it inside the basket with black handle, then lift the basket with black handle.", + "Grab the colorful can with lime and orange design, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick up the can with red green label, place it in the plastic basket, and then lift the plastic basket.", + "Grab the metallic drink can with pull-tab, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Grab the small soda can with lime graphics, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Grab the can with red green label using the right arm, drop the can with red green label into the basket with perforated sides and lift the basket with perforated sides.", + "Take the small soda can with lime graphics with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the smooth cylindrical can with lime pattern using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Drop the red green can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Lift the beverage can with red green graphics, set it in the yellow basket, and elevate the yellow basket.", + "Pick the smooth cylindrical can with lime pattern with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab and drop the metallic drink can with pull-tab in the plastic basket, lift the plastic basket.", + "Take the colorful can with lime and orange design and put it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the metallic drink can with pull-tab, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick the metal can with pull-tab top using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Grab the smooth cylindrical can with lime pattern with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick up the soda can with lime illustration, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the can with red green label and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Pick up the small soda can with lime graphics, put it into the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the smooth cylindrical can with lime pattern, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the smooth cylindrical can with lime pattern, drop it into the yellow basket, and raise the yellow basket.", + "Lift the metal can with pull-tab top, place it in the basket with black handle, and raise the basket with black handle.", + "Pick the soda can with lime illustration with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the red green beverage can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the green red metallic soda can, place it in the yellow basket, and lift the yellow basket.", + "Lift the smooth cylindrical can with lime pattern, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Place the beverage can with red green graphics inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the can with red green label, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick up the metallic drink can with pull-tab, put it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to pick the metal can with pull-tab top, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the metal can with pull-tab top, place it in the handheld basket, and then lift the handheld basket.", + "Place the green red metallic soda can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the soda can with lime illustration, set it in the handheld basket, and lift the handheld basket upward.", + "Grab the green red metallic soda can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the red green can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick the small soda can with lime graphics with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the green red metallic soda can with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Pick the red green can, set it in the plastic basket, then lift the plastic basket.", + "Grab the red green beverage can, set it into the basket with black handle, then raise the basket with black handle.", + "Take the drink can with bright colors in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Take the can with red green label, place it into the handheld basket, then lift the handheld basket.", + "Lift the small soda can with lime graphics, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Place the beverage can with red green graphics in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Take the beverage can with red green graphics, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the plastic basket, and lift the plastic basket.", + "Lift the can with red green label, place it inside the basket with black handle, and elevate the basket with black handle.", + "Pick up the red green can with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Use the right arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the yellow basket, and lift the yellow basket.", + "Use the right arm to take the soda can with lime illustration, drop it in the handheld basket, and lift the handheld basket.", + "Pick up the metallic drink can with pull-tab, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the drink can with bright colors, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick up the red green can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Grab the metal can with pull-tab top, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Grab the soda can with lime illustration using the right arm, drop the soda can with lime illustration into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Take the soda can with lime illustration with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick up the red green can using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Drop the metal can with pull-tab top into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Lift the smooth cylindrical can with lime pattern, set it in the handheld basket, and elevate the handheld basket." + ], + "unseen": [ + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..fe79f72f5d30d1daa65a57794280f6cd8e46e56c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the red beverage can with curved top, put it into the yellow basket, and lift the yellow basket with another arm.", + "Lift the metallic soda can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Grab the metallic can with rounded edges with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Drop the gold patterned beverage can into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Pick up the bright red drink container can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the metallic soda can with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Grab and drop the gold patterned beverage can in the handheld basket, lift the handheld basket.", + "Take the red and gold cylindrical can, place it into the handheld basket, then lift the handheld basket.", + "Grab the smooth red soda can, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the gold patterned beverage can, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Use the right arm to hold the gold patterned beverage can, drop the gold patterned beverage can into the plastic basket, and lift the plastic basket.", + "Use the right arm to take the red and gold cylindrical can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the red can, place it in the handheld basket, and then lift the handheld basket.", + "Take the red beverage can with curved top with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the palm-sized drink can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the gold patterned beverage can and place in the plastic basket, lift the plastic basket with another arm.", + "Use the right arm to grab the smooth red soda can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Take the metallic can with rounded edges and put it in the bright yellow basket, then lift the bright yellow basket.", + "Hold the gold-decorated aluminum can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Pick up the compact metal drink can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the gold-decorated aluminum can using the right arm, drop the gold-decorated aluminum can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Place the smooth red soda can in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Grab the metallic soda can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the metallic soda can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Place the red can inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red can with gold illustrations, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the red beverage can with curved top with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Grab the metallic soda can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Pick the smooth red soda can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Take the red and gold cylindrical can, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the same arm to grab the metallic can with rounded edges, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the bright red drink container can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the palm-sized drink can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Lift the red beverage can with curved top, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the right arm to grab the metallic can with rounded edges, place it in the handheld basket, and lift the handheld basket.", + "Use the right arm to pick the gold patterned beverage can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the metallic soda can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick the palm-sized drink can using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the gold-decorated aluminum can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the red can, place it in the yellow basket, and raise the yellow basket.", + "Pick the red can with gold illustrations, set it in the basket with black handle, then lift the basket with black handle.", + "Lift the red can with gold illustrations, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Pick up the red can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Lift the bright red drink container can, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the metallic can with rounded edges, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Grab the palm-sized drink can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Grab the gold patterned beverage can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Grab the metallic can with rounded edges, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Lift the red and gold cylindrical can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Use the right arm to grab the smooth red soda can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Lift the red and gold cylindrical can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Grab the smooth red soda can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Drop the red and gold cylindrical can into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Pick up the compact metal drink can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Lift the red beverage can with curved top with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab and drop the red can in the yellow basket, lift the yellow basket.", + "Take the compact metal drink can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red and gold cylindrical can, place it in the yellow basket, and then lift the yellow basket.", + "Grab the gold-decorated aluminum can, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to take the red can, drop it in the yellow basket, and lift the yellow basket.", + "Pick up the bright red drink container can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Take the red can with gold illustrations with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the smooth red soda can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the palm-sized drink can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the gold patterned beverage can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Take the red beverage can with curved top and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Hold the red and gold cylindrical can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the gold-decorated aluminum can using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab the red beverage can with curved top using the right arm, drop the red beverage can with curved top into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Place the red beverage can with curved top in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Grab the red beverage can with curved top, drop it into the handheld basket, and raise the handheld basket.", + "Take the bright red drink container can in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Place the red beverage can with curved top inside the plastic basket, then lift the plastic basket.", + "Pick up the metallic soda can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the red can with gold illustrations with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the metallic can with rounded edges, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick the red can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Take the gold-decorated aluminum can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Use the same arm to grab the red can, place in the yellow basket, and then lift the yellow basket.", + "Place the smooth red soda can in the basket with black handle and then lift the basket with black handle.", + "Pick the smooth red soda can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Lift the red can with gold illustrations, drop it into the basket with black handle, then carry the basket with black handle.", + "Use the right arm to grab the red can with gold illustrations, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to pick the bright red drink container can, place it inside the yellow basket, then lift the yellow basket.", + "Grab the red can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick the gold patterned beverage can using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the bright red drink container can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the red and gold cylindrical can, place it in the plastic basket, and raise the plastic basket.", + "Pick the gold patterned beverage can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the red and gold cylindrical can, place it in the yellow basket, pick up the yellow basket afterward.", + "Pick up the bright red drink container can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the red can, set it in the handheld basket, and elevate the handheld basket.", + "Pick the red and gold cylindrical can, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Grab the palm-sized drink can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the red and gold cylindrical can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Grab the compact metal drink can, place it in the yellow basket, and lift the yellow basket upwards.", + "Lift the metallic soda can, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface." + ], + "unseen": [ + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..5b37a1e4b4b9a6a90167549ab4bf25a7c4996f20 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the can with sealed gold top, drop the can with sealed gold top into the handheld basket, and lift the handheld basket.", + "Grab the white can, place it in the yellow basket, and then lift the yellow basket.", + "Use the same arm to grab the cylindrical white glossy can, place in the yellow basket, and then lift the yellow basket.", + "Grab the can with rounded cylindrical shape, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the smooth white can with accents, put it in the yellow basket, then raise the yellow basket.", + "Take the red-orange text on white can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Use the right arm to pick the medium metal can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the white can with 3D RADY label, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick up the beverage can with printed label using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Pick the can with sealed gold top using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm for the white can with 3D RADY label, place the white can with 3D RADY label in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to take the cylindrical white glossy can, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the white can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the beverage can with printed label, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the right arm to grab the white can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Hold the can with red-orange text using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the red-orange text on white can with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Take the can with sealed gold top, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the red-orange text on white can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick up the can with gold top lid, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Drop the smooth white can with accents into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Grab the medium metal can using the right arm, drop the medium metal can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the can with rounded cylindrical shape with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the smooth white can with accents with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Use the right arm to grab the beverage can with printed label, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Pick up the can with red-orange text with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Grab the can with sealed gold top, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Lift the white can with 3D RADY label, place it in the plastic basket, and raise the plastic basket.", + "Pick up the smooth white can with accents, place it in the handheld basket, and then lift the handheld basket.", + "Grab and drop the small white can with branding in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Take the can with gold top lid in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Place the white can with 3D RADY label in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the cylindrical white glossy can, set it in the yellow basket, and lift the yellow basket upward.", + "Pick up the can with rounded cylindrical shape, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Place the white can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the white can with 3D RADY label, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the medium metal can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the cylindrical white glossy can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Lift the can with red-orange text, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the white can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Grab the can with rounded cylindrical shape, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the can with sealed gold top, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Pick up the can with gold top lid, set it inside the handheld basket, then lift the handheld basket.", + "Place the cylindrical white glossy can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Pick the cylindrical white glossy can with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Pick the cylindrical white glossy can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Take the small white can with branding and put it in the yellow basket, then lift the yellow basket.", + "Use the right arm to grab the white can with 3D RADY label, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the can with gold top lid with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the cylindrical white glossy can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the right arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the bright yellow basket, and lift the bright yellow basket.", + "Grab the can with rounded cylindrical shape, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the white can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Grab the can with gold top lid, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Take the small white can with branding, set it into the yellow basket, and raise the yellow basket.", + "Use the right arm to pick the can with sealed gold top, place it inside the plastic basket, then lift the plastic basket.", + "Grab the can with sealed gold top, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Pick up the beverage can with printed label using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick the can with red-orange text using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to take the can with red-orange text, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the smooth white can with accents, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the medium metal can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Use the right arm to grab the smooth white can with accents and place in the basket with black handle, lift the basket with black handle with another arm.", + "Hold the white can using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Take the white can with 3D RADY label with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Take the can with sealed gold top, place it into the plastic basket, then lift the plastic basket.", + "Lift the red-orange text on white can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick up the small white can with branding, place it into the basket with black handle, then lift the basket with black handle.", + "Drop the can with rounded cylindrical shape into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Grab the beverage can with printed label using the right arm, drop the beverage can with printed label into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Pick the red-orange text on white can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Lift the red-orange text on white can with the right arm, set it in the basket with black handle, and lift with another arm.", + "Use the right arm to grab the white can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Pick up the can with sealed gold top with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the red-orange text on white can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Lift the small white can with branding, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the red-orange text on white can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab and drop the can with sealed gold top in the yellow basket, lift the yellow basket.", + "Take the can with red-orange text in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Place the cylindrical white glossy can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the medium metal can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick up the small white can with branding, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the small white can with branding inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the medium metal can, put it into the handheld basket, and lift the handheld basket with another arm.", + "Grab the can with rounded cylindrical shape with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the can with sealed gold top, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Lift the can with gold top lid, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Grab the smooth white can with accents, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab the smooth white can with accents, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Lift the beverage can with printed label, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Pick up the white can, set it inside the handheld basket, then lift the handheld basket.", + "Place the medium metal can in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.", + "Pick the small white can with branding with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the red-orange text on white can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the small white can with branding and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the small white can with branding, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the white can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the red-orange text on white can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides." + ], + "unseen": [ + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd0544b489d2ccabe4df8c11dbddcea9ca61138 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the beverage can with red green graphics, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the smooth cylindrical can with lime pattern inside the yellow basket, then lift the yellow basket.", + "Pick up the metallic drink can with pull-tab with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Pick the metal can with pull-tab top with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the drink can with bright colors using the right arm, drop the drink can with bright colors into the bright yellow basket and lift the bright yellow basket.", + "Grab the red green beverage can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the red green can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Pick up the small soda can with lime graphics, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metal can with pull-tab top in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick the beverage can with red green graphics, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the drink can with bright colors, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the colorful can with lime and orange design using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the same arm to grab the metal can with pull-tab top, place in the handheld basket, and then lift the handheld basket.", + "Pick up the beverage can with red green graphics, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the metal can with pull-tab top, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Lift the metal can with pull-tab top, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Pick the colorful can with lime and orange design, set it in the handheld basket, and lift the handheld basket upward.", + "Place the metallic drink can with pull-tab in the plastic basket and then lift the plastic basket.", + "Take the beverage can with red green graphics and put it in the basket with black handle, then lift the basket with black handle.", + "Take the metallic drink can with pull-tab with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the soda can with lime illustration, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Lift the beverage can with red green graphics, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the drink can with bright colors with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Hold the green red metallic soda can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to pick the green red metallic soda can, place it inside the basket with black handle, then lift the basket with black handle.", + "Lift the beverage can with red green graphics, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Lift the colorful can with lime and orange design, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm to take the colorful can with lime and orange design, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the drink can with bright colors, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the red green beverage can, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the colorful can with lime and orange design, place it into the handheld basket, then lift the handheld basket.", + "Take the smooth cylindrical can with lime pattern, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to grab the red green beverage can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Place the metallic drink can with pull-tab in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Pick the red green can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick the beverage can with red green graphics with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm for the can with red green label, place the can with red green label in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the can with red green label, place it into the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the red green can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the red green can, place it in the plastic basket, and lift the plastic basket.", + "Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the basket with black handle, and lift the basket with black handle.", + "Grab the smooth cylindrical can with lime pattern, drop it into the plastic basket, then use another arm for the plastic basket.", + "Grab the small soda can with lime graphics, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to grab the red green beverage can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Pick up the red green can, place it in the handheld basket, and then lift the handheld basket.", + "Grab the beverage can with red green graphics, set it into the handheld basket, then raise the handheld basket.", + "Drop the metal can with pull-tab top into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Lift the smooth cylindrical can with lime pattern with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick the green red metallic soda can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab and drop the small soda can with lime graphics in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the drink can with bright colors, put it in the handheld basket, and lift the handheld basket.", + "Place the green red metallic soda can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the colorful can with lime and orange design with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Pick the beverage can with red green graphics with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the green red metallic soda can using the right arm, drop the green red metallic soda can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab the drink can with bright colors, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the smooth cylindrical can with lime pattern, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Pick up the soda can with lime illustration, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the red green beverage can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick the soda can with lime illustration, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the soda can with lime illustration, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Pick up the red green beverage can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the same arm to grab the green red metallic soda can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the beverage can with red green graphics, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the soda can with lime illustration, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Lift the soda can with lime illustration, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick the can with red green label, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Place the soda can with lime illustration in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Take the beverage can with red green graphics and put it in the yellow basket, then lift the yellow basket.", + "Take the small soda can with lime graphics with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the small soda can with lime graphics, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Lift the drink can with bright colors, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the red green can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Hold the can with red green label using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the beverage can with red green graphics, place it inside the handheld basket, then lift the handheld basket.", + "Lift the can with red green label, place it in the plastic basket, pick up the plastic basket afterward.", + "Lift the green red metallic soda can, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the smooth cylindrical can with lime pattern, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Grab the beverage can with red green graphics, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Take the smooth cylindrical can with lime pattern, place it into the handheld basket, then lift the handheld basket.", + "Take the can with red green label, set it into the yellow basket, and raise the yellow basket.", + "Use the right arm to grab the beverage can with red green graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Place the red green beverage can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Pick the red green can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Pick the small soda can with lime graphics with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm for the metallic drink can with pull-tab, place the metallic drink can with pull-tab in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the beverage can with red green graphics, place it into the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the drink can with bright colors and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the colorful can with lime and orange design, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the basket with black handle, and lift the basket with black handle.", + "Grab the colorful can with lime and orange design, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Grab the small soda can with lime graphics, place it in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the can with red green label, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Pick up the colorful can with lime and orange design, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the red green can, set it into the handheld basket, then raise the handheld basket.", + "Drop the can with red green label into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Lift the can with red green label with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the metallic drink can with pull-tab using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Grab and drop the metallic drink can with pull-tab in the plastic basket, lift the plastic basket." + ], + "unseen": [ + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..283a71e4fd660390259e5b6743a098c8b4932a59 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the metallic red beverage can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Take the rounded red Coca-Cola soda container with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm for the Coca-Cola soda can, place the Coca-Cola soda can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the red can with white lettering, set it into the handheld basket, and raise the handheld basket.", + "Place the smooth red can with silver bottom in the yellow basket and then lift the yellow basket.", + "Drop the smooth red can with silver bottom into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Use the right arm to grab the red can with smooth metallic texture, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Hold the Coca-Cola can using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the same arm to grab the hand-sized red can for drinks, place in the handheld basket, and then lift the handheld basket.", + "Grab the rounded red Coca-Cola soda container with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the red can with smooth metallic texture, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to grab the smooth red can with silver bottom, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Take the Coca-Cola can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red can with white lettering, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Lift the red can with smooth metallic texture, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick up the small aluminum red drink can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the hand-sized red can for drinks, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red can with white Coca-Cola logo, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Grab and drop the Coca-Cola can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Use the right arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red can with white lettering, set it in the handheld basket, then lift the handheld basket.", + "Pick the rounded red Coca-Cola soda container, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upward.", + "Use the right arm to pick the small aluminum red drink can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the red cylindrical can with silver top, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick up the red can with white Coca-Cola logo, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the metallic red beverage can in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Pick the rounded red Coca-Cola soda container with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the Coca-Cola can, set it in the yellow basket, and elevate the yellow basket.", + "Lift the red can with white lettering, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Place the red can with smooth metallic texture inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the hand-sized red can for drinks with the right arm, set it in the basket with black handle, and lift with another arm.", + "Take the Coca-Cola soda can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the cylindrical red drink can with logo, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Use the right arm to grab the Coca-Cola soda can, place it into the handheld basket, and lift the handheld basket using the other arm.", + "Grab the red can with white lettering, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Use the right arm to take the red cylindrical can with silver top, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the cylindrical red drink can with logo, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Grab the red can with white Coca-Cola logo, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Grab the Coca-Cola soda can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the cylindrical red drink can with logo using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the red can with white Coca-Cola logo using the right arm, drop the red can with white Coca-Cola logo into the basket with arched black grip and lift the basket with arched black grip.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Pick up the rounded red Coca-Cola soda container using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to grab the red cylindrical can with silver top and place in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the cylindrical red drink can with logo with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Lift the Coca-Cola soda can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab the metallic red beverage can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick up the red can with white lettering, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the hand-sized red can for drinks, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick the hand-sized red can for drinks with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Take the rounded red Coca-Cola soda container with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the red can with smooth metallic texture, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the red can with white lettering in the handheld basket and then lift the handheld basket.", + "Drop the red can with white lettering into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to grab the cylindrical red drink can with logo, place it in the bright yellow basket, and lift the bright yellow basket.", + "Hold the metallic red beverage can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Use the same arm to grab the cylindrical red drink can with logo, place in the plastic basket, and then lift the plastic basket.", + "Grab the small aluminum red drink can with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick up the smooth red can with silver bottom, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the small aluminum red drink can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Take the red can with white lettering and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the Coca-Cola soda can, drop it into the basket with black handle, and raise the basket with black handle.", + "Lift the red can with white Coca-Cola logo, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick up the small aluminum red drink can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the cylindrical red drink can with logo, place it into the plastic basket, then lift the plastic basket.", + "Grab the Coca-Cola soda can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Grab and drop the metallic red beverage can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Use the right arm to hold the rounded red Coca-Cola soda container, drop the rounded red Coca-Cola soda container into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the Coca-Cola soda can, set it in the yellow basket, then lift the yellow basket.", + "Pick the cylindrical red drink can with logo, set it in the yellow basket, and lift the yellow basket upward.", + "Use the right arm to pick the cylindrical red drink can with logo, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the hand-sized red can for drinks, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Pick up the red can with smooth metallic texture, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the cylindrical red drink can with logo in the plastic basket and then use another arm to lift the plastic basket.", + "Pick the metallic red beverage can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Lift the red can with white Coca-Cola logo, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Lift the red cylindrical can with silver top, place it inside the handheld basket, and elevate the handheld basket.", + "Place the smooth red can with silver bottom inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the Coca-Cola soda can with the right arm, set it in the yellow basket, and lift with another arm.", + "Take the metallic red beverage can, place it into the yellow basket, then lift the yellow basket.", + "Grab the red can with smooth metallic texture, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Use the right arm to grab the red cylindrical can with silver top, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Grab the Coca-Cola can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Use the right arm to take the Coca-Cola can, drop it in the yellow basket, and lift the yellow basket.", + "Lift the hand-sized red can for drinks, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Grab the Coca-Cola soda can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Grab the red can with white lettering, place it in the yellow basket, and then lift the yellow basket.", + "Pick the red cylindrical can with silver top using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the red can with white Coca-Cola logo using the right arm, drop the red can with white Coca-Cola logo into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the metallic red beverage can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the red can with smooth metallic texture using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm to grab the red cylindrical can with silver top and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the red can with white lettering with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the red can with smooth metallic texture, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Grab the cylindrical red drink can with logo, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Pick up the red can with white lettering, place it in the plastic basket, and then lift the plastic basket.", + "Grab the Coca-Cola soda can, place it in the basket with black handle, and lift the basket with black handle upwards." + ], + "unseen": [ + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..d99ef4683738d6c008339707e7fbfcd0b7aee307 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal can with white decorative designs with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the metal can with white decorative designs, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Lift the white patterned brown metal can, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick the drink can with light brown shade with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to grab the rounded metallic can and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the small light brown cylindrical can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Use the right arm to hold the brown can, drop the brown can into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the smooth brown can with rounded edges, drop it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm to grab the light brown can with smooth texture, place it in the plastic basket, and lift the plastic basket.", + "Use the right arm to take the smooth light brown can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the bright yellow basket, and then lift the bright yellow basket.", + "Place the light brown can with smooth texture in the yellow basket and then use another arm to lift the yellow basket.", + "Grab the smooth brown can with rounded edges, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab and drop the small light brown cylindrical can in the basket with black handle, lift the basket with black handle.", + "Use the right arm for the metal can with printed white graphics, place the metal can with printed white graphics in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the drink can with light brown shade, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the brown can using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the smooth light brown can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Pick the rounded metallic can with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to grab the smooth brown can with rounded edges, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Lift the brown can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the smooth brown can with rounded edges with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Pick up the small cylindrical drink container, put it into the handheld basket, and lift the handheld basket.", + "Lift the smooth brown can with rounded edges, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the hand-sized metallic can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab the smooth brown can with rounded edges using the right arm, drop the smooth brown can with rounded edges into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick up the hand-sized metallic can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Pick the smooth brown can with rounded edges with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Take the hand-sized metallic can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick the metal can with printed white graphics, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Use the right arm to grab the light brown can with smooth texture, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick up the small light brown cylindrical can, place it in the plastic basket, and then lift the plastic basket.", + "Take the light brown can with smooth texture, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Lift the brown can, set it in the basket with black handle, and elevate the basket with black handle.", + "Use the right arm to pick the smooth brown can with rounded edges, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the brown can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Grab the metal can with white decorative designs, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Place the light brown can with smooth texture inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Hold the smooth brown can with rounded edges using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the smooth light brown can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the light brown can with smooth texture, set it inside the handheld basket, then lift the handheld basket.", + "Grab the small light brown cylindrical can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Drop the small cylindrical drink container into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Pick up the drink can with light brown shade, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the white patterned brown metal can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the smooth light brown can, set it into the plastic basket, then raise the plastic basket.", + "Grab the white patterned brown metal can, put it in the plastic basket, then raise the plastic basket.", + "Pick the smooth brown can with rounded edges, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the rounded metallic can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Take the hand-sized metallic can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the hand-sized metallic can with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Lift the white patterned brown metal can, place it in the handheld basket, pick up the handheld basket afterward.", + "Lift the hand-sized metallic can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Pick the small cylindrical drink container with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the small light brown cylindrical can and place in the handheld basket, lift the handheld basket with another arm.", + "Grab the hand-sized metallic can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the yellow basket, and lift the yellow basket.", + "Grab the drink can with light brown shade, drop it into the plastic basket, and raise the plastic basket.", + "Use the right arm to grab the hand-sized metallic can, place it in the plastic basket, and lift the plastic basket.", + "Use the right arm to take the small cylindrical drink container, drop it in the plastic basket, and lift the plastic basket.", + "Use the same arm to grab the smooth brown can with rounded edges, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the smooth light brown can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Grab the light brown can with smooth texture, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Grab and drop the metal can with white decorative designs in the basket with perforated sides, lift the basket with perforated sides.", + "Use the right arm for the hand-sized metallic can, place the hand-sized metallic can in the yellow basket, and lift the yellow basket.", + "Pick up the smooth light brown can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the rounded metallic can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Lift the brown can, put it in the plastic basket, and carry the plastic basket afterward.", + "Pick the light brown can with smooth texture with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the brown can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Lift the metal can with white decorative designs, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the smooth brown can with rounded edges with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Pick up the drink can with light brown shade, put it into the bright yellow basket, and lift the bright yellow basket.", + "Lift the small light brown cylindrical can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the metal can with white decorative designs, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab the hand-sized metallic can using the right arm, drop the hand-sized metallic can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Pick up the rounded metallic can with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Pick the rounded metallic can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Take the metal can with printed white graphics in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick the white patterned brown metal can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the right arm to grab the rounded metallic can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Pick up the white patterned brown metal can, place it in the yellow basket, and then lift the yellow basket.", + "Take the rounded metallic can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the smooth brown can with rounded edges, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the right arm to pick the hand-sized metallic can, place it inside the handheld basket, then lift the handheld basket.", + "Take the smooth light brown can and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the small light brown cylindrical can, drop it into the handheld basket, then use another arm for the handheld basket.", + "Place the drink can with light brown shade inside the handheld basket, then lift the handheld basket.", + "Hold the brown can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Take the metal can with printed white graphics, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the metal can with white decorative designs, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the metal can with white decorative designs, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Drop the metal can with printed white graphics into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Pick up the small cylindrical drink container, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the metal can with printed white graphics using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the smooth light brown can, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the hand-sized metallic can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Pick the rounded metallic can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Place the white patterned brown metal can in the plastic basket and then lift the plastic basket.", + "Take the brown can with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm." + ], + "unseen": [ + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..46991c5e4df6e802739acae90250ef71cb740775 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the light brown can with smooth texture, drop it in the plastic basket, and lift the plastic basket.", + "Place the rounded metallic can in the yellow basket and then lift the yellow basket.", + "Lift the metal can with white decorative designs, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick up the rounded metallic can, put it in the handheld basket, and lift the handheld basket.", + "Use the right arm to grab the metal can with white decorative designs, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the small light brown cylindrical can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Grab the rounded metallic can using the right arm, drop the rounded metallic can into the basket with perforated sides and lift the basket with perforated sides.", + "Use the right arm to hold the rounded metallic can, drop the rounded metallic can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Hold the hand-sized metallic can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the light brown can with smooth texture with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the white patterned brown metal can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the small cylindrical drink container, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Place the white patterned brown metal can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Grab the hand-sized metallic can, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Pick up the hand-sized metallic can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the drink can with light brown shade with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the metal can with printed white graphics, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Lift the smooth brown can with rounded edges, set it in the basket with black handle, and elevate the basket with black handle.", + "Pick the metal can with printed white graphics, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the metal can with white decorative designs, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the small light brown cylindrical can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the metal can with printed white graphics, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the hand-sized metallic can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick up the drink can with light brown shade with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick the drink can with light brown shade with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the light brown can with smooth texture, place it in the handheld basket, and lift the handheld basket upwards.", + "Lift the small cylindrical drink container, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Take the hand-sized metallic can, set it into the handheld basket, and raise the handheld basket.", + "Use the same arm to grab the small cylindrical drink container, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to grab the drink can with light brown shade, put it into the plastic basket, and lift the plastic basket with another arm.", + "Grab the small cylindrical drink container, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the hand-sized metallic can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Take the white patterned brown metal can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Place the metal can with printed white graphics inside the basket with arched black grip, then lift the basket with arched black grip.", + "Take the brown can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the yellow basket, and lift the yellow basket.", + "Use the right arm to pick the small light brown cylindrical can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the light brown can with smooth texture, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the rounded metallic can with the right arm, set it in the handheld basket, and lift with another arm.", + "Take the drink can with light brown shade, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the hand-sized metallic can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Drop the smooth brown can with rounded edges into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab and drop the metal can with white decorative designs in the basket with arched black grip, lift the basket with arched black grip.", + "Grab the small light brown cylindrical can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the metal can with white decorative designs, drop it into the handheld basket, and raise the handheld basket.", + "Pick the brown can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the right arm to grab the hand-sized metallic can and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the smooth light brown can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the metal can with printed white graphics with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick the smooth light brown can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to take the metal can with printed white graphics, drop it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Place the smooth brown can with rounded edges in the yellow basket and then lift the yellow basket.", + "Lift the drink can with light brown shade, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick up the white patterned brown metal can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the brown can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Lift the small light brown cylindrical can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Grab the metal can with printed white graphics using the right arm, drop the metal can with printed white graphics into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Use the right arm to hold the hand-sized metallic can, drop the hand-sized metallic can into the basket with black handle, and lift the basket with black handle.", + "Hold the hand-sized metallic can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Grab the metal can with printed white graphics with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the drink can with light brown shade, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the smooth light brown can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Place the hand-sized metallic can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Grab the hand-sized metallic can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Pick up the brown can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Pick the metal can with printed white graphics with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the brown can, put it in the plastic basket, then raise the plastic basket.", + "Lift the white patterned brown metal can, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Pick the smooth brown can with rounded edges, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Pick up the white patterned brown metal can, put it into the yellow basket, and lift the yellow basket.", + "Take the small light brown cylindrical can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Pick up the metal can with white decorative designs, set it inside the yellow basket, then lift the yellow basket.", + "Grab the smooth light brown can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Pick up the white patterned brown metal can with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Pick the rounded metallic can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the white patterned brown metal can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Lift the light brown can with smooth texture, put it in the plastic basket, and carry the plastic basket afterward.", + "Take the metal can with white decorative designs, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the same arm to grab the hand-sized metallic can, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the metal can with printed white graphics, put it into the handheld basket, and lift the handheld basket with another arm.", + "Grab the smooth light brown can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Lift the small cylindrical drink container, place it in the yellow basket, and raise the yellow basket.", + "Take the rounded metallic can with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Place the rounded metallic can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Take the small cylindrical drink container and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm for the smooth light brown can, place the smooth light brown can in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Use the right arm to pick the smooth light brown can, place it inside the yellow basket, then lift the yellow basket.", + "Grab the smooth brown can with rounded edges, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the drink can with light brown shade with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Take the light brown can with smooth texture, place it into the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the metal can with white decorative designs, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Drop the light brown can with smooth texture into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Grab and drop the small cylindrical drink container in the rectangular yellow basket, lift the rectangular yellow basket.", + "Grab the metal can with white decorative designs, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the white patterned brown metal can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the hand-sized metallic can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to grab the small cylindrical drink container and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick up the hand-sized metallic can, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick the drink can with light brown shade with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Pick the metal can with printed white graphics, set it in the basket with perforated sides, then lift the basket with perforated sides." + ], + "unseen": [ + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the light brown cylindrical can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Pick the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the light brown cylindrical can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..6a376d6152558de1ce5f7508171429a0743ecb75 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red can with decorative label, place it inside the basket for holding items, and elevate the basket for holding items.", + "Grab the medium-sized soda can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Take the cylindrical can with flat surfaces, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the metal can with red base with the right arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.", + "Place the cylindrical can with flat surfaces inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Grab the red shiny can with green label, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the metal can with red base, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Use the right arm to grab the can with flat silver bottom, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.", + "Use the right arm to take the drink can with smooth red finish, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to hold the red and white beverage can, drop the red and white beverage can into the basket with loop handle, and lift the basket with loop handle.", + "Grab the red drink can with white lid, drop it into the brown basket, and raise the brown basket.", + "Grab and drop the red soda can with green accents in the basket for holding items, lift the basket for holding items.", + "Use the right arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the basket with loop handle, and lift the basket with loop handle.", + "Use the right arm to grab the red shiny can with green label, put it into the light brown oval basket, and lift the light brown oval basket with another arm.", + "Take the cylindrical can with flat surfaces in the right arm, place it into the brown basket, another arm lifts the brown basket.", + "Lift the red can with decorative label, place it in the light brown oval basket, and raise the light brown oval basket.", + "Grab the red shiny can with green label using the right arm, drop the red shiny can with green label into the light brown oval basket and lift the light brown oval basket.", + "Pick the cylindrical can with flat surfaces with the right arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the red and white beverage can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the red shiny can with green label, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Use the right arm to grab the red shiny can with green label and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.", + "Lift the red drink can with white lid, put it in the light brown oval basket, and carry the light brown oval basket afterward.", + "Use the right arm to grab the smooth red can, place it in the woven basket, and lift the woven basket.", + "Lift the red and white beverage can with the right arm, set it in the woven basket, and lift with another arm.", + "Pick the medium-sized soda can, set it in the basket for holding items, and lift the basket for holding items upward.", + "Pick the red soda can with green accents using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the medium-sized soda can, drop it into the basket with handle, then use another arm for the basket with handle.", + "Pick up the drink can with smooth red finish, put it into the basket with handle, and lift the basket with handle.", + "Lift the red shiny can with green label, drop it into the basket with handle, then carry the basket with handle.", + "Place the smooth red can in the basket with handle and then use another arm to lift the basket with handle.", + "Grab the red drink can with white lid, set it into the basket for holding items, then raise the basket for holding items.", + "Pick up the red shiny can with green label, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Place the drink can with smooth red finish in the woven basket and then lift the woven basket.", + "Lift the cylindrical can with flat surfaces, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.", + "Lift the metal can with red base, place it in the brown basket, pick up the brown basket afterward.", + "Take the red shiny can with green label with the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Take the red soda can with green accents and put it in the brown basket, then lift the brown basket.", + "Grab the can with flat silver bottom with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Pick the drink can with smooth red finish with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.", + "Use the right arm to pick the medium-sized soda can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the red drink can with white lid with the right arm, place into the basket with loop handle, the other arm raises the basket with loop handle.", + "Grab the cylindrical metal can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick up the smooth red can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.", + "Pick up the red and white beverage can using the right arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Take the metal can with red base, set it into the basket for holding items, and raise the basket for holding items.", + "Hold the red soda can with green accents using the right arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Drop the red and white beverage can into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.", + "Pick the red soda can with green accents, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the same arm to grab the red shiny can with green label, place in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the cylindrical can with flat surfaces, place it into the woven basket, then lift the woven basket.", + "Lift the cylindrical metal can, place it inside the woven basket, and elevate the woven basket.", + "Grab the can with flat silver bottom, place it in the brown basket, and raise the brown basket using the other arm.", + "Take the medium-sized soda can, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the can with flat silver bottom with the right arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.", + "Place the medium-sized soda can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red can with decorative label, place it in the basket for holding items, and then lift the basket for holding items.", + "Grab the red shiny can with green label, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.", + "Use the right arm to grab the medium-sized soda can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Use the right arm to take the cylindrical can with flat surfaces, drop it in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm to hold the red can with decorative label, drop the red can with decorative label into the basket for holding items, and lift the basket for holding items.", + "Grab the metal can with red base, drop it into the basket for carrying things, and raise the basket for carrying things.", + "Grab and drop the red soda can with green accents in the woven basket, lift the woven basket.", + "Use the right arm for the smooth red can, place the smooth red can in the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm to grab the red soda can with green accents, put it into the woven basket, and lift the woven basket with another arm.", + "Take the red and white beverage can in the right arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.", + "Lift the drink can with smooth red finish, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.", + "Grab the cylindrical metal can using the right arm, drop the cylindrical metal can into the wooden basket with curved handle and lift the wooden basket with curved handle.", + "Pick the can with flat silver bottom with the right arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.", + "Pick up the can with flat silver bottom, set it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the red soda can with green accents, put it in the brown basket, then raise the brown basket.", + "Use the right arm to grab the metal can with red base and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Lift the red drink can with white lid, put it in the brown basket, and carry the brown basket afterward.", + "Use the right arm to grab the can with flat silver bottom, place it in the light brown oval basket, and lift the light brown oval basket.", + "Lift the drink can with smooth red finish with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Pick the red soda can with green accents, set it in the basket with loop handle, and lift the basket with loop handle upward.", + "Pick the smooth red can using the right arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.", + "Grab the red shiny can with green label, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.", + "Pick up the red can with decorative label, put it into the basket for carrying things, and lift the basket for carrying things.", + "Lift the can with flat silver bottom, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Place the metal can with red base in the basket for carrying things and then use another arm to lift the basket for carrying things.", + "Grab the medium-sized soda can, set it into the light brown oval basket, then raise the light brown oval basket.", + "Pick up the smooth red can, put it in the basket with handle, and lift the basket with handle.", + "Place the red soda can with green accents in the basket with handle and then lift the basket with handle.", + "Lift the red can with decorative label, set it in the basket for carrying things, and elevate the basket for carrying things.", + "Lift the red drink can with white lid, place it in the basket with handle, pick up the basket with handle afterward.", + "Take the cylindrical can with flat surfaces with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.", + "Take the red shiny can with green label and put it in the basket for carrying things, then lift the basket for carrying things.", + "Grab the cylindrical metal can with the right arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the basket with handle, and lift the basket with handle using another arm.", + "Use the right arm to pick the can with flat silver bottom, place it inside the basket with handle, then lift the basket with handle.", + "Pick up the red soda can with green accents with the right arm, place into the basket for holding items, the other arm raises the basket for holding items.", + "Grab the medium-sized soda can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Pick up the red drink can with white lid, place it in the basket made of woven wood, and then lift the basket made of woven wood.", + "Pick up the drink can with smooth red finish using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the cylindrical can with flat surfaces, set it into the basket for holding items, and raise the basket for holding items.", + "Hold the cylindrical metal can using the right arm, place it in the woven basket, and lift the woven basket.", + "Drop the smooth red can into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick the smooth red can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Use the same arm to grab the metal can with red base, place in the basket with handle, and then lift the basket with handle.", + "Pick up the red can with decorative label, place it into the basket with handle, then lift the basket with handle." + ], + "unseen": [ + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the can with red body and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can with white top, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the red can with white top, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the red can with white top, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the can with red body, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the can with red body, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can with white top, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can with white top, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can with white top, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick up the can with red body, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can with white top, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can with white top, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to grab the red can with white top, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the red can with white top, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the can with red body, place it into the oval basket with medium storage space, and lift the basket.", + "Pick the can with red body, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the can with red body, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the red can with white top, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to grab the can with red body, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick up the can with red body, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, place it into the medium basket with smooth texture, and lift the basket.", + "Pick the red can with white top, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the can with red body, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the can with red body, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to grab the can with red body, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick up the can with red body, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the can with red body, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Grab the red can with white top and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can with white top, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the can with red body, place it into the basket with rounded edges, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..6fedda6c51a207c09db0b8713fe6da18a27eebdf --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the soda can with lime illustration with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the green red metallic soda can with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Pick the beverage can with red green graphics with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the red green can with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the drink can with bright colors, put it in the plastic basket, then raise the plastic basket.", + "Use the same arm to grab the beverage can with red green graphics, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the red green can, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Pick up the green red metallic soda can, place it in the plastic basket, and then lift the plastic basket.", + "Use the right arm to grab the can with red green label, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket with black handle, then lift the basket with black handle.", + "Take the metal can with pull-tab top, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the drink can with bright colors and place in the handheld basket, lift the handheld basket with another arm.", + "Use the right arm to grab the beverage can with red green graphics, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the beverage can with red green graphics, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Take the soda can with lime illustration in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Grab the green red metallic soda can, set it into the plastic basket, then raise the plastic basket.", + "Lift the red green can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Drop the red green beverage can into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Place the metallic drink can with pull-tab in the basket with arched black grip and then lift the basket with arched black grip.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the colorful can with lime and orange design, put it in the bright yellow basket, and lift the bright yellow basket.", + "Pick up the smooth cylindrical can with lime pattern, put it into the basket with black handle, and lift the basket with black handle.", + "Grab the drink can with bright colors, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Lift the metallic drink can with pull-tab, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Place the soda can with lime illustration in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Pick up the red green beverage can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the red green can, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the soda can with lime illustration, drop it into the basket with black handle, and raise the basket with black handle.", + "Pick up the drink can with bright colors with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab and drop the small soda can with lime graphics in the basket with black handle, lift the basket with black handle.", + "Grab the soda can with lime illustration using the right arm, drop the soda can with lime illustration into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Grab the metal can with pull-tab top, place it in the plastic basket, and lift the plastic basket upwards.", + "Grab the can with red green label, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Grab the soda can with lime illustration, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Pick up the can with red green label, set it inside the basket with black handle, then lift the basket with black handle.", + "Take the red green beverage can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the drink can with bright colors using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to grab the red green beverage can, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Lift the can with red green label, drop it into the plastic basket, then carry the plastic basket.", + "Lift the drink can with bright colors, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Grab the red green beverage can, place it in the handheld basket, and then lift the handheld basket.", + "Pick the red green beverage can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Use the right arm to hold the colorful can with lime and orange design, drop the colorful can with lime and orange design into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the small soda can with lime graphics with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Place the soda can with lime illustration inside the yellow basket, then lift the yellow basket.", + "Use the right arm for the red green can, place the red green can in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the red green can and put it in the yellow basket, then lift the yellow basket.", + "Hold the red green can using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Take the metal can with pull-tab top with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the soda can with lime illustration with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick the drink can with bright colors with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick the small soda can with lime graphics with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the green red metallic soda can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Grab the smooth cylindrical can with lime pattern, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Use the same arm to grab the small soda can with lime graphics, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the metal can with pull-tab top, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Pick up the red green beverage can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm to grab the red green beverage can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the metal can with pull-tab top, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the small soda can with lime graphics, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the smooth cylindrical can with lime pattern and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the metallic drink can with pull-tab, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the soda can with lime illustration, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Take the small soda can with lime graphics in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the metallic drink can with pull-tab, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the beverage can with red green graphics, place it in the handheld basket, and raise the handheld basket.", + "Drop the red green can into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Place the metal can with pull-tab top in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Use the right arm to take the smooth cylindrical can with lime pattern, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick up the metal can with pull-tab top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the metal can with pull-tab top, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the metal can with pull-tab top, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the plastic basket, then lift the plastic basket.", + "Lift the red green can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Place the soda can with lime illustration in the yellow basket and then use another arm to lift the yellow basket.", + "Pick up the small soda can with lime graphics, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the metallic drink can with pull-tab, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab the can with red green label, drop it into the handheld basket, and raise the handheld basket.", + "Pick up the smooth cylindrical can with lime pattern with the right arm, place into the medium yellow basket with slots, the other arm raises the medium yellow basket with slots.", + "Grab and drop the metallic drink can with pull-tab in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Grab the soda can with lime illustration using the right arm, drop the soda can with lime illustration into the plastic basket and lift the plastic basket.", + "Grab the small soda can with lime graphics, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Grab the metal can with pull-tab top, drop it into the plastic basket, then use another arm for the plastic basket.", + "Grab the colorful can with lime and orange design, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Pick up the small soda can with lime graphics, set it inside the yellow basket, then lift the yellow basket.", + "Take the soda can with lime illustration, set it into the basket with black handle, and raise the basket with black handle.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to grab the small soda can with lime graphics, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Lift the colorful can with lime and orange design, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Lift the metallic drink can with pull-tab, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Grab the drink can with bright colors, place it in the handheld basket, and then lift the handheld basket.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the right arm to hold the red green can, drop the red green can into the yellow basket, and lift the yellow basket.", + "Grab the red green beverage can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Place the green red metallic soda can inside the plastic basket, then lift the plastic basket.", + "Use the right arm for the colorful can with lime and orange design, place the colorful can with lime and orange design in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the smooth cylindrical can with lime pattern and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Hold the soda can with lime illustration using the right arm, place it in the plastic basket, and lift the plastic basket." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12e783b38f5daccbba732bcfdc74ff72f80046 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the same arm to grab the red shiny can with green label, place in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the smooth red can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the red can with decorative label, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick up the smooth red can using the right arm, drop it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the metal can with red base using the right arm, drop the metal can with red base into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Drop the metal can with red base into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Use the right arm to grab the metal can with red base, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Lift the medium-sized soda can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Lift the cylindrical metal can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Grab the can with flat silver bottom, drop it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm to hold the cylindrical metal can, drop the cylindrical metal can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the medium-sized soda can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab and drop the red drink can with white lid in the yellow basket, lift the yellow basket.", + "Pick the can with flat silver bottom with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the drink can with smooth red finish, drop it into the yellow basket, then carry the yellow basket.", + "Place the red shiny can with green label inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the red can with decorative label, place it in the yellow basket, and lift the yellow basket.", + "Lift the red shiny can with green label, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Place the smooth red can in the handheld basket and then lift the handheld basket.", + "Take the red and white beverage can, set it into the handheld basket, and raise the handheld basket.", + "Take the can with flat silver bottom with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the red shiny can with green label, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Use the right arm to grab the smooth red can and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the metal can with red base, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the red shiny can with green label, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm for the cylindrical can with flat surfaces, place the cylindrical can with flat surfaces in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the cylindrical can with flat surfaces, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Grab the cylindrical can with flat surfaces, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the right arm to take the red can with decorative label, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red and white beverage can with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Pick up the drink can with smooth red finish, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the can with flat silver bottom, drop it into the basket with perforated sides, then use another arm for the basket with perforated sides.", + "Use the right arm to pick the red shiny can with green label, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the red and white beverage can, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the smooth red can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the cylindrical metal can, place it in the plastic basket, pick up the plastic basket afterward.", + "Place the medium-sized soda can in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Pick up the can with flat silver bottom with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Pick up the red can with decorative label, put it in the bright yellow basket, and lift the bright yellow basket.", + "Take the drink can with smooth red finish and put it in the bright yellow basket, then lift the bright yellow basket.", + "Take the can with flat silver bottom in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Lift the red can with decorative label, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Take the drink can with smooth red finish, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the cylindrical metal can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the red and white beverage can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Hold the cylindrical can with flat surfaces using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the red and white beverage can, set it in the basket with black handle, then lift the basket with black handle.", + "Pick the drink can with smooth red finish, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the red and white beverage can with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the drink can with smooth red finish, place it into the bright yellow basket, then lift the bright yellow basket.", + "Use the same arm to grab the red and white beverage can, place in the yellow basket, and then lift the yellow basket.", + "Pick up the cylindrical metal can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the red can with decorative label, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the can with flat silver bottom using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Grab the red and white beverage can using the right arm, drop the red and white beverage can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Drop the red shiny can with green label into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Use the right arm to grab the can with flat silver bottom, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Lift the smooth red can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Lift the can with flat silver bottom with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Grab the red drink can with white lid, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to hold the drink can with smooth red finish, drop the drink can with smooth red finish into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the smooth red can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab and drop the red shiny can with green label in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick the red can with decorative label with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the can with flat silver bottom, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Place the cylindrical metal can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the red drink can with white lid, place it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the smooth red can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Place the red and white beverage can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the cylindrical metal can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Take the red drink can with white lid with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to grab the can with flat silver bottom, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Use the right arm to grab the red and white beverage can and place in the handheld basket, lift the handheld basket with another arm.", + "Pick up the red drink can with white lid, put it into the plastic basket, and lift the plastic basket.", + "Grab the red soda can with green accents, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Use the right arm for the smooth red can, place the smooth red can in the basket with black handle, and lift the basket with black handle.", + "Grab the can with flat silver bottom, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Grab the metal can with red base, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Use the right arm to take the drink can with smooth red finish, drop it in the handheld basket, and lift the handheld basket.", + "Pick the metal can with red base with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the red drink can with white lid, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the metal can with red base, drop it into the plastic basket, then use another arm for the plastic basket.", + "Use the right arm to pick the metal can with red base, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red and white beverage can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the red drink can with white lid with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Lift the red can with decorative label, place it in the plastic basket, pick up the plastic basket afterward.", + "Place the can with flat silver bottom in the basket with black handle and then use another arm to lift the basket with black handle.", + "Pick up the smooth red can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Pick up the red can with decorative label, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the cylindrical can with flat surfaces and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the metal can with red base in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Lift the can with flat silver bottom, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Take the drink can with smooth red finish, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Lift the can with flat silver bottom, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the can with flat silver bottom, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.", + "Hold the medium-sized soda can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red soda can with green accents, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick the red drink can with white lid, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Grab the red and white beverage can with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick up the red soda can with green accents, place it into the yellow basket, then lift the yellow basket." + ], + "unseen": [ + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can with white top, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to grab the red can with white top, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can with white top, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with red body, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..fcfe41782b0dae64c3c169c193699db48c883b1b --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical white glossy can, set it in the yellow basket, and elevate the yellow basket.", + "Drop the white can into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Grab the white can, put it in the yellow basket, then raise the yellow basket.", + "Grab the red-orange text on white can with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Grab the red-orange text on white can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Pick the can with sealed gold top, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Lift the medium metal can with the right arm, set it in the handheld basket, and lift with another arm.", + "Use the right arm to grab the white can with 3D RADY label and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the white can with 3D RADY label, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Hold the beverage can with printed label using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the cylindrical white glossy can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab and drop the can with rounded cylindrical shape in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Use the right arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket with black handle, and lift the basket with black handle.", + "Pick the red-orange text on white can, set it in the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the can with red-orange text, put it into the handheld basket, and lift the handheld basket.", + "Take the can with red-orange text with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to grab the can with red-orange text, place it in the plastic basket, and lift the plastic basket.", + "Lift the can with red-orange text, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.", + "Lift the can with red-orange text, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Grab the white can with 3D RADY label, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Pick the white can with 3D RADY label using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Pick the small white can with branding with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick the cylindrical white glossy can with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the white can with 3D RADY label, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Lift the can with sealed gold top, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the small white can with branding, place it in the plastic basket, and raise the plastic basket.", + "Place the can with sealed gold top inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red-orange text on white can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Grab the medium metal can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Pick up the red-orange text on white can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick the medium metal can with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the can with sealed gold top, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to take the cylindrical white glossy can, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm for the smooth white can with accents, place the smooth white can with accents in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the cylindrical white glossy can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Grab the smooth white can with accents, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the smooth white can with accents, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the can with sealed gold top, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the can with gold top lid in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick up the red-orange text on white can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the can with red-orange text, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to pick the red-orange text on white can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Place the white can with 3D RADY label in the basket with black handle and then lift the basket with black handle.", + "Pick up the beverage can with printed label with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the white can with 3D RADY label using the right arm, drop the white can with 3D RADY label into the basket with arched black grip and lift the basket with arched black grip.", + "Take the cylindrical white glossy can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the white can in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Pick up the can with gold top lid, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the same arm to grab the can with rounded cylindrical shape, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the white can, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the beverage can with printed label, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Drop the can with rounded cylindrical shape into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Grab the red-orange text on white can, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the white can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the small white can with branding, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Pick the can with sealed gold top, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Lift the beverage can with printed label with the right arm, set it in the handheld basket, and lift with another arm.", + "Use the right arm to grab the white can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the smooth white can with accents, place it in the basket with black handle, and then lift the basket with black handle.", + "Hold the can with red-orange text using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the cylindrical white glossy can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab and drop the red-orange text on white can in the basket with black handle, lift the basket with black handle.", + "Use the right arm to hold the can with gold top lid, drop the can with gold top lid into the yellow basket, and lift the yellow basket.", + "Pick the small white can with branding, set it in the yellow basket, then lift the yellow basket.", + "Pick up the white can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the white can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Use the right arm to grab the can with red-orange text, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the beverage can with printed label, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Lift the cylindrical white glossy can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the white can with 3D RADY label, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Pick the cylindrical white glossy can using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Pick the white can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the can with gold top lid with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Grab the medium metal can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Lift the red-orange text on white can, drop it into the yellow basket, then carry the yellow basket.", + "Lift the white can, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the can with rounded cylindrical shape inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the can with sealed gold top, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Grab the white can with 3D RADY label, place it in the handheld basket, and lift the handheld basket upwards.", + "Pick up the white can with 3D RADY label using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick the cylindrical white glossy can with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the smooth white can with accents, place it inside the handheld basket, and elevate the handheld basket.", + "Use the right arm to take the can with red-orange text, drop it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm for the can with sealed gold top, place the can with sealed gold top in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the white can with 3D RADY label, set it into the bright yellow basket, and raise the bright yellow basket.", + "Grab the red-orange text on white can, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Pick up the white can with 3D RADY label, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the beverage can with printed label, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Take the medium metal can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Pick up the red-orange text on white can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the small white can with branding, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to pick the can with red-orange text, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the red-orange text on white can in the yellow basket and then lift the yellow basket.", + "Pick up the cylindrical white glossy can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the can with gold top lid using the right arm, drop the can with gold top lid into the bright yellow basket and lift the bright yellow basket.", + "Take the smooth white can with accents and put it in the handheld basket, then lift the handheld basket.", + "Place the white can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Pick up the medium metal can, place it into the yellow basket, then lift the yellow basket.", + "Use the same arm to grab the white can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick up the cylindrical white glossy can, put it in the basket with perforated sides, and lift the basket with perforated sides." + ], + "unseen": [ + "Pick up the lightweight cylindrical metal can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..da8362afbfdf21e2730f700a1130a0ca99037b86 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the red can with white Coca-Cola logo in the right arm, place it into the basket with handle, another arm lifts the basket with handle.", + "Grab the red can with white lettering with the right arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Pick up the hand-sized red can for drinks, put it in the basket for holding items, and lift the basket for holding items.", + "Pick the Coca-Cola soda can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Lift the cylindrical red drink can with logo, drop it into the basket for carrying things, then carry the basket for carrying things.", + "Take the metallic red beverage can with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Lift the small aluminum red drink can with the right arm, set it in the basket with loop handle, and lift with another arm.", + "Grab the Coca-Cola soda can, drop it into the basket with handle, and raise the basket with handle.", + "Pick the small aluminum red drink can with the right arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.", + "Pick the hand-sized red can for drinks, set it in the basket with handle, and lift the basket with handle upward.", + "Pick the hand-sized red can for drinks with the right arm, set it in the brown basket, and lift the brown basket using another arm.", + "Pick up the red can with white Coca-Cola logo, place it in the basket with handle, and then lift the basket with handle.", + "Lift the red can with smooth metallic texture, place it inside the brown basket, and elevate the brown basket.", + "Take the red can with smooth metallic texture, place it into the basket for holding items, then lift the basket for holding items.", + "Grab and drop the cylindrical red drink can with logo in the basket with loop handle, lift the basket with loop handle.", + "Grab the metallic red beverage can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.", + "Grab the rounded red Coca-Cola soda container, put it in the basket with handle, then raise the basket with handle.", + "Lift the small aluminum red drink can, place it in the basket with loop handle, pick up the basket with loop handle afterward.", + "Drop the hand-sized red can for drinks into the basket for holding items using the right arm, then lift the basket for holding items with another arm.", + "Pick up the Coca-Cola can, place it into the woven basket, then lift the woven basket.", + "Pick the red can with smooth metallic texture with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the woven basket, and lift the woven basket with the other arm.", + "Use the right arm to grab the red cylindrical can with silver top, place it in the brown basket, and lift the brown basket.", + "Pick up the smooth red can with silver bottom, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the brown basket, and lift the brown basket.", + "Use the right arm to grab the hand-sized red can for drinks, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Pick up the cylindrical red drink can with logo with the right arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.", + "Grab the red can with white Coca-Cola logo, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.", + "Use the right arm to grab the red can with smooth metallic texture and place in the basket for holding items, lift the basket for holding items with another arm.", + "Place the cylindrical red drink can with logo inside the woven basket, then lift the woven basket.", + "Lift the red can with white lettering, place it in the basket with loop handle, and raise the basket with loop handle.", + "Grab the Coca-Cola soda can, place it in the basket with handle, and lift the basket with handle upwards.", + "Grab the red can with white lettering, place it in the basket for holding items, and then lift the basket for holding items.", + "Use the right arm to grab the cylindrical red drink can with logo, put it into the brown basket, and lift the brown basket with another arm.", + "Pick up the red can with white Coca-Cola logo using the right arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.", + "Use the right arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the basket for carrying things, and lift the basket for carrying things.", + "Grab the red cylindrical can with silver top, drop it into the basket with loop handle, then use another arm for the basket with loop handle.", + "Pick up the red can with white lettering, put it into the woven basket, and lift the woven basket.", + "Place the Coca-Cola soda can in the basket with loop handle and then use another arm to lift the basket with loop handle.", + "Grab the Coca-Cola can using the right arm, drop the Coca-Cola can into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Use the right arm to take the small aluminum red drink can, drop it in the basket with loop handle, and lift the basket with loop handle.", + "Lift the rounded red Coca-Cola soda container, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Take the metallic red beverage can, set it into the basket for holding items, and raise the basket for holding items.", + "Take the red can with white lettering and put it in the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the red can with smooth metallic texture, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Hold the rounded red Coca-Cola soda container using the right arm, place it in the brown basket, and lift the brown basket.", + "Use the right arm to pick the Coca-Cola can, place it inside the woven basket, then lift the woven basket.", + "Lift the rounded red Coca-Cola soda container, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.", + "Place the red cylindrical can with silver top in the woven basket and then lift the woven basket.", + "Grab the metallic red beverage can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Take the metallic red beverage can in the right arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.", + "Grab the red can with white lettering with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Pick up the hand-sized red can for drinks, put it in the basket for carrying things, and lift the basket for carrying things.", + "Pick the red cylindrical can with silver top, set it in the woven basket, then lift the woven basket.", + "Lift the smooth red can with silver bottom, drop it into the basket with handle, then carry the basket with handle.", + "Take the small aluminum red drink can with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Lift the red cylindrical can with silver top with the right arm, set it in the basket for carrying things, and lift with another arm.", + "Grab the rounded red Coca-Cola soda container, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.", + "Pick the red can with white lettering with the right arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.", + "Pick the red can with smooth metallic texture, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.", + "Pick the red can with smooth metallic texture with the right arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Pick up the rounded red Coca-Cola soda container, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the red can with smooth metallic texture, place it inside the brown basket, and elevate the brown basket.", + "Take the smooth red can with silver bottom, place it into the brown basket, then lift the brown basket.", + "Grab and drop the cylindrical red drink can with logo in the basket for carrying things, lift the basket for carrying things.", + "Grab the hand-sized red can for drinks, place it in the basket for holding items, and raise the basket for holding items using the other arm.", + "Grab the red can with smooth metallic texture, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.", + "Lift the cylindrical red drink can with logo, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.", + "Drop the cylindrical red drink can with logo into the woven basket using the right arm, then lift the woven basket with another arm.", + "Pick up the red can with white Coca-Cola logo, place it into the basket for carrying things, then lift the basket for carrying things.", + "Pick the red can with white lettering with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Pick the Coca-Cola can using the right arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.", + "Use the right arm to grab the Coca-Cola can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Pick up the red cylindrical can with silver top, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Use the right arm to hold the Coca-Cola soda can, drop the Coca-Cola soda can into the basket made of woven wood, and lift the basket made of woven wood.", + "Use the right arm to grab the hand-sized red can for drinks, place it into the basket with handle, and lift the basket with handle using the other arm.", + "Pick up the rounded red Coca-Cola soda container with the right arm, place into the woven basket, the other arm raises the woven basket.", + "Grab the smooth red can with silver bottom, drop it into the basket for holding items, and raise the basket for holding items with the other arm.", + "Use the right arm to grab the smooth red can with silver bottom and place in the woven basket, lift the woven basket with another arm.", + "Place the cylindrical red drink can with logo inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the metallic red beverage can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Grab the red can with white lettering, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Grab the rounded red Coca-Cola soda container, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Use the right arm to grab the hand-sized red can for drinks, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.", + "Pick up the red can with white lettering using the right arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the basket with handle, and lift the basket with handle.", + "Grab the cylindrical red drink can with logo, drop it into the basket with handle, then use another arm for the basket with handle.", + "Pick up the rounded red Coca-Cola soda container, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Place the rounded red Coca-Cola soda container in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.", + "Grab the cylindrical red drink can with logo using the right arm, drop the cylindrical red drink can with logo into the basket made of woven wood and lift the basket made of woven wood.", + "Use the right arm to take the rounded red Coca-Cola soda container, drop it in the brown basket, and lift the brown basket.", + "Lift the small aluminum red drink can, set it in the basket made of woven wood, and elevate the basket made of woven wood.", + "Take the cylindrical red drink can with logo, set it into the brown basket, and raise the brown basket.", + "Take the red can with white lettering and put it in the basket for holding items, then lift the basket for holding items.", + "Use the same arm to grab the rounded red Coca-Cola soda container, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Hold the small aluminum red drink can using the right arm, place it in the basket for carrying things, and lift the basket for carrying things.", + "Use the right arm to pick the red can with smooth metallic texture, place it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Lift the smooth red can with silver bottom, put it in the basket for carrying things, and carry the basket for carrying things afterward.", + "Place the cylindrical red drink can with logo in the woven basket and then lift the woven basket.", + "Grab the smooth red can with silver bottom, set it into the basket with loop handle, then raise the basket with loop handle." + ], + "unseen": [ + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the small red soda can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the small red soda can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the small red soda can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the red can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to grab the red can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the small red soda can, place it into the oval basket with medium storage space, and lift the basket.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Grab the red can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..2249b945e51fe5419891a30a5ddf84eae85da9d9 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the drink can with bright colors, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the metal can with pull-tab top, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the metallic drink can with pull-tab, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the metal can with pull-tab top, put it in the bright yellow basket, and lift the bright yellow basket.", + "Lift the red green can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Grab the soda can with lime illustration with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the metallic drink can with pull-tab using the right arm, drop the metallic drink can with pull-tab into the bright yellow basket and lift the bright yellow basket.", + "Pick the colorful can with lime and orange design with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the smooth cylindrical can with lime pattern, place it into the plastic basket, then lift the plastic basket.", + "Take the small soda can with lime graphics with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Drop the small soda can with lime graphics into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the small soda can with lime graphics with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Place the red green beverage can inside the yellow basket, then lift the yellow basket.", + "Use the right arm for the metal can with pull-tab top, place the metal can with pull-tab top in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the beverage can with red green graphics, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the metallic drink can with pull-tab with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Grab the red green can, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick the can with red green label with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the metal can with pull-tab top, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Use the same arm to grab the red green can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Hold the red green can using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Lift the metal can with pull-tab top, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the right arm to grab the beverage can with red green graphics and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Use the right arm to pick the soda can with lime illustration, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Lift the drink can with bright colors, place it inside the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Use the right arm to grab the red green can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Grab the metallic drink can with pull-tab, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick the drink can with bright colors, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the metal can with pull-tab top, place it into the plastic basket, then lift the plastic basket.", + "Use the right arm to take the beverage can with red green graphics, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab and drop the green red metallic soda can in the basket with black handle, lift the basket with black handle.", + "Grab the red green can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to grab the small soda can with lime graphics, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the drink can with bright colors, drop the drink can with bright colors into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the drink can with bright colors, drop it into the yellow basket, and raise the yellow basket.", + "Lift the metal can with pull-tab top, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Pick the small soda can with lime graphics using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.", + "Grab the small soda can with lime graphics, place it in the plastic basket, and lift the plastic basket upwards.", + "Place the small soda can with lime graphics in the yellow basket for carrying stuff and then use another arm to lift the yellow basket for carrying stuff.", + "Pick up the red green beverage can, put it into the yellow basket, and lift the yellow basket.", + "Take the metal can with pull-tab top and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the red green beverage can, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Place the smooth cylindrical can with lime pattern in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Lift the green red metallic soda can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the green red metallic soda can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the colorful can with lime and orange design, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Pick up the green red metallic soda can with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Take the can with red green label in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Grab the soda can with lime illustration, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the metal can with pull-tab top, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the red green beverage can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the metallic drink can with pull-tab, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the metallic drink can with pull-tab, drop it into the handheld basket, then carry the handheld basket.", + "Grab the can with red green label with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the beverage can with red green graphics using the right arm, drop the beverage can with red green graphics into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the colorful can with lime and orange design with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Pick up the colorful can with lime and orange design, place it into the basket with black handle, then lift the basket with black handle.", + "Take the colorful can with lime and orange design with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.", + "Drop the colorful can with lime and orange design into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick up the soda can with lime illustration using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Lift the can with red green label with the right arm, set it in the plastic basket, and lift with another arm.", + "Place the small soda can with lime graphics inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the red green beverage can, set it into the handheld basket, and raise the handheld basket.", + "Pick the colorful can with lime and orange design with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Grab the colorful can with lime and orange design, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Pick the small soda can with lime graphics with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Lift the smooth cylindrical can with lime pattern, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the same arm to grab the metal can with pull-tab top, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Hold the red green can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Lift the red green beverage can, set it in the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the drink can with bright colors and place in the basket with black handle, lift the basket with black handle with another arm.", + "Use the right arm to pick the smooth cylindrical can with lime pattern, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the drink can with bright colors, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Use the right arm to grab the soda can with lime illustration, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Grab the metal can with pull-tab top, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick the metal can with pull-tab top, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the green red metallic soda can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to take the green red metallic soda can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the beverage can with red green graphics in the plastic basket, lift the plastic basket.", + "Grab the colorful can with lime and orange design, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm to grab the beverage can with red green graphics, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the red green can, drop the red green can into the handheld basket, and lift the handheld basket.", + "Grab the green red metallic soda can, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Lift the green red metallic soda can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the metal can with pull-tab top using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the drink can with bright colors, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Place the red green can in the handheld basket and then use another arm to lift the handheld basket.", + "Pick up the small soda can with lime graphics, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the soda can with lime illustration and put it in the plastic basket, then lift the plastic basket.", + "Grab the red green can, set it into the basket with black handle, then raise the basket with black handle.", + "Place the small soda can with lime graphics in the bright yellow basket and then lift the bright yellow basket.", + "Lift the drink can with bright colors, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the metallic drink can with pull-tab, drop it into the plastic basket, then use another arm for the plastic basket.", + "Use the right arm to grab the green red metallic soda can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Pick the metallic drink can with pull-tab, set it in the yellow basket, and lift the yellow basket upward.", + "Pick up the can with red green label with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the plastic basket, another arm lifts the plastic basket." + ], + "unseen": [ + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..0889274512a85a3d156f27e8df010b617accaacf --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the can with gold top lid, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Hold the can with sealed gold top using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Use the right arm to take the smooth white can with accents, drop it in the yellow basket, and lift the yellow basket.", + "Grab the small white can with branding, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab the can with sealed gold top, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Grab and drop the can with gold top lid in the basket with black handle, lift the basket with black handle.", + "Place the white can with 3D RADY label in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Grab the beverage can with printed label, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick up the smooth white can with accents with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Lift the can with red-orange text, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Place the medium metal can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the white can with 3D RADY label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Lift the can with sealed gold top, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the can with sealed gold top, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the can with rounded cylindrical shape using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to pick the can with red-orange text, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the can with red-orange text, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Take the can with gold top lid and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the can with gold top lid and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick up the white can, place it into the plastic basket, then lift the plastic basket.", + "Lift the beverage can with printed label, put it in the yellow basket, and carry the yellow basket afterward.", + "Pick up the white can, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the small white can with branding, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Grab the can with sealed gold top, drop it into the basket with black handle, and raise the basket with black handle.", + "Pick the can with red-orange text, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the can with gold top lid, put it into the plastic basket, and lift the plastic basket.", + "Use the right arm to grab the can with sealed gold top, put it into the yellow basket, and lift the yellow basket with another arm.", + "Lift the smooth white can with accents, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Pick the can with rounded cylindrical shape with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the white can with 3D RADY label, place it in the handheld basket, and lift the handheld basket upwards.", + "Take the medium metal can with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm for the smooth white can with accents, place the smooth white can with accents in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the medium metal can, place it in the yellow basket, pick up the yellow basket afterward.", + "Grab the can with red-orange text, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Take the can with red-orange text, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the same arm to grab the white can with 3D RADY label, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick up the can with sealed gold top, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Drop the cylindrical white glossy can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Place the can with gold top lid in the handheld basket and then use another arm to lift the handheld basket.", + "Lift the can with sealed gold top, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the can with gold top lid, place it in the handheld basket, and lift the handheld basket.", + "Pick up the cylindrical white glossy can using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Grab the white can with 3D RADY label with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the beverage can with printed label with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the medium metal can using the right arm, drop the medium metal can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Use the right arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the small white can with branding, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Lift the cylindrical white glossy can with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick the white can with 3D RADY label with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Take the beverage can with printed label in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab the can with rounded cylindrical shape, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Hold the can with gold top lid using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to take the cylindrical white glossy can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the medium metal can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the can with sealed gold top, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Grab and drop the medium metal can in the handheld basket, lift the handheld basket.", + "Place the medium metal can in the rectangular yellow basket and then lift the rectangular yellow basket.", + "Grab the small white can with branding, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Pick up the cylindrical white glossy can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Lift the can with rounded cylindrical shape, place it in the plastic basket, and raise the plastic basket.", + "Place the white can with 3D RADY label inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the can with sealed gold top, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Lift the can with red-orange text, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Take the can with sealed gold top, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the cylindrical white glossy can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to pick the can with red-orange text, place it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the small white can with branding, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Take the white can with 3D RADY label and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the cylindrical white glossy can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick up the can with gold top lid, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the white can with 3D RADY label, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Pick up the beverage can with printed label, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the cylindrical white glossy can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Grab the can with red-orange text, drop it into the yellow basket, and raise the yellow basket.", + "Pick the red-orange text on white can, set it in the plastic basket, then lift the plastic basket.", + "Pick up the medium metal can, put it into the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the cylindrical white glossy can, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Lift the medium metal can, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick the can with rounded cylindrical shape with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the can with sealed gold top, place it in the plastic basket, and lift the plastic basket upwards.", + "Take the can with gold top lid with the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm for the white can, place the white can in the plastic basket, and lift the plastic basket.", + "Lift the can with gold top lid, place it in the plastic basket, pick up the plastic basket afterward.", + "Grab the cylindrical white glossy can, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Take the white can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the same arm to grab the can with red-orange text, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the cylindrical white glossy can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Drop the can with sealed gold top into the plastic basket using the right arm, then lift the plastic basket with another arm.", + "Place the can with sealed gold top in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Lift the small white can with branding, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the handheld basket, and lift the handheld basket.", + "Pick up the beverage can with printed label using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Grab the cylindrical white glossy can with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the cylindrical white glossy can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the red-orange text on white can using the right arm, drop the red-orange text on white can into the rectangular yellow basket and lift the rectangular yellow basket.", + "Use the right arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the white can with 3D RADY label, set it in the plastic basket, and lift the plastic basket upward.", + "Lift the cylindrical white glossy can with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Pick the can with gold top lid with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Take the can with sealed gold top in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket." + ], + "unseen": [ + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the can with shiny smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..af84fa8f8e5ef5fe5369dc15ddd6b33f769479ff --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for the cylindrical metal can, place the cylindrical metal can in the handheld basket, and lift the handheld basket.", + "Grab the medium-sized soda can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to grab the metal can with red base, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick the cylindrical can with flat surfaces with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the cylindrical metal can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the metal can with red base in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Grab the red drink can with white lid, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Lift the metal can with red base, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the drink can with smooth red finish, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick up the red drink can with white lid with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Pick the red shiny can with green label with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the medium-sized soda can, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Use the same arm to grab the red and white beverage can, place in the basket with black handle, and then lift the basket with black handle.", + "Pick the red and white beverage can, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to grab the smooth red can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the cylindrical can with flat surfaces in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Hold the smooth red can using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the metal can with red base and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick the red drink can with white lid, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick up the drink can with smooth red finish, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the red and white beverage can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Use the right arm to take the red can with decorative label, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the cylindrical can with flat surfaces inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Drop the metal can with red base into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Grab the red soda can with green accents, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Grab the red drink can with white lid using the right arm, drop the red drink can with white lid into the yellow basket and lift the yellow basket.", + "Grab the red and white beverage can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab and drop the red soda can with green accents in the basket with arched black grip, lift the basket with arched black grip.", + "Pick up the cylindrical metal can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the drink can with smooth red finish, put it in the yellow basket, and lift the yellow basket.", + "Grab the metal can with red base, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Lift the metal can with red base, place it in the handheld basket, pick up the handheld basket afterward.", + "Grab the red drink can with white lid, put it in the handheld basket, then raise the handheld basket.", + "Lift the cylindrical metal can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the can with flat silver bottom using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Take the red can with decorative label with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the can with flat silver bottom, place it inside the basket with black handle, and elevate the basket with black handle.", + "Take the smooth red can and put it in the plastic basket, then lift the plastic basket.", + "Pick up the medium-sized soda can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the right arm to hold the red shiny can with green label, drop the red shiny can with green label into the handheld basket, and lift the handheld basket.", + "Lift the cylindrical metal can with the right arm, set it in the plastic basket, and lift with another arm.", + "Pick the red and white beverage can using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the red soda can with green accents, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Take the metal can with red base, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the smooth red can, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Take the can with flat silver bottom in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick up the red soda can with green accents, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the cylindrical can with flat surfaces with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the drink can with smooth red finish, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Use the right arm to pick the medium-sized soda can, place it inside the plastic basket, then lift the plastic basket.", + "Use the right arm for the medium-sized soda can, place the medium-sized soda can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the red soda can with green accents with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to grab the can with flat silver bottom, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Pick the smooth red can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Grab the cylindrical can with flat surfaces, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Place the drink can with smooth red finish in the plastic basket and then lift the plastic basket.", + "Grab the cylindrical metal can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Lift the medium-sized soda can, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the red drink can with white lid, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the medium-sized soda can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Pick the medium-sized soda can with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the cylindrical can with flat surfaces, drop it into the rectangular basket with smooth surface, then carry the rectangular basket with smooth surface.", + "Use the same arm to grab the metal can with red base, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the red shiny can with green label, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the red can with decorative label, place it in the plastic basket, and lift the plastic basket.", + "Place the red can with decorative label in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Hold the cylindrical metal can using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the red can with decorative label and place in the bright yellow basket, lift the bright yellow basket with another arm.", + "Pick the cylindrical can with flat surfaces, set it in the basket with black handle, and lift the basket with black handle upward.", + "Pick up the red soda can with green accents, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Take the can with flat silver bottom, set it into the basket with black handle, and raise the basket with black handle.", + "Use the right arm to take the smooth red can, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the can with flat silver bottom inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Drop the can with flat silver bottom into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Grab the red drink can with white lid, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Grab the medium-sized soda can using the right arm, drop the medium-sized soda can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Grab the cylindrical can with flat surfaces, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab and drop the medium-sized soda can in the plastic basket, lift the plastic basket.", + "Pick up the medium-sized soda can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Pick up the metal can with red base, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the metal can with red base, drop it into the plastic basket, then use another arm for the plastic basket.", + "Lift the cylindrical metal can, place it in the plastic basket, pick up the plastic basket afterward.", + "Grab the smooth red can, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the cylindrical metal can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick up the red shiny can with green label using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Take the red can with decorative label with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Lift the cylindrical can with flat surfaces, place it inside the handheld basket, and elevate the handheld basket.", + "Take the drink can with smooth red finish and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the red soda can with green accents, place it into the yellow basket, then lift the yellow basket.", + "Use the right arm to hold the cylindrical can with flat surfaces, drop the cylindrical can with flat surfaces into the basket with black handle, and lift the basket with black handle.", + "Lift the red drink can with white lid with the right arm, set it in the yellow basket, and lift with another arm.", + "Pick the smooth red can using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Lift the red can with decorative label, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Take the cylindrical can with flat surfaces, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the red and white beverage can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Take the cylindrical metal can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Pick up the can with flat silver bottom, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the red shiny can with green label with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the medium-sized soda can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Use the right arm to pick the red drink can with white lid, place it inside the basket with black handle, then lift the basket with black handle." + ], + "unseen": [ + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can with white top, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with red body and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with red body, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can with white top, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the can with red body, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with red body, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the red can with white top and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the can with red body, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can with white top, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with red body and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with red body, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can with white top, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with red body, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can with white top, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can with white top, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with red body, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with red body, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can with white top, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can with white top, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the can with red body, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with red body, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the red can with white top, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can with white top, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the red can with white top and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the can with red body, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can with white top, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with red body, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..1a66e8a034c8780041497e5bc41a08864f0f283d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the can with red green label into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Take the colorful can with lime and orange design and put it in the bright yellow basket, then lift the bright yellow basket.", + "Pick the beverage can with red green graphics with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm for the red green can, place the red green can in the yellow basket, and lift the yellow basket.", + "Place the colorful can with lime and orange design in the basket with black handle and then use another arm to lift the basket with black handle.", + "Grab the green red metallic soda can, set it into the plastic basket, then raise the plastic basket.", + "Use the same arm to grab the smooth cylindrical can with lime pattern, place in the handheld basket, and then lift the handheld basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the metal can with pull-tab top, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Use the right arm to grab the soda can with lime illustration, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Pick the small soda can with lime graphics with the right arm, drop it in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab the metallic drink can with pull-tab, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Place the metal can with pull-tab top in the plastic basket and then lift the plastic basket.", + "Take the red green can with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to grab the drink can with bright colors and place in the basket with black handle, lift the basket with black handle with another arm.", + "Lift the small soda can with lime graphics, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab and drop the red green beverage can in the basket with black handle, lift the basket with black handle.", + "Pick the soda can with lime illustration using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the green red metallic soda can, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the soda can with lime illustration, put it in the plastic basket, then raise the plastic basket.", + "Use the right arm to grab the metal can with pull-tab top, put it into the plastic basket, and lift the plastic basket with another arm.", + "Grab the red green beverage can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the drink can with bright colors with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Take the green red metallic soda can in the right arm, place it into the basket with arched black grip, another arm lifts the basket with arched black grip.", + "Use the right arm to take the small soda can with lime graphics, drop it in the plastic basket, and lift the plastic basket.", + "Grab the small soda can with lime graphics using the right arm, drop the small soda can with lime graphics into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Grab the can with red green label, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Lift the red green beverage can, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick up the can with red green label, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the soda can with lime illustration, place it in the handheld basket, and then lift the handheld basket.", + "Hold the colorful can with lime and orange design using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the smooth cylindrical can with lime pattern, place it in the bright yellow basket, pick up the bright yellow basket afterward.", + "Use the right arm to pick the colorful can with lime and orange design, place it inside the handheld basket, then lift the handheld basket.", + "Grab the metal can with pull-tab top with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the metallic drink can with pull-tab with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Take the drink can with bright colors, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Grab the colorful can with lime and orange design, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Use the right arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the handheld basket, and lift the handheld basket.", + "Place the green red metallic soda can inside the basket with black handle, then lift the basket with black handle.", + "Pick the drink can with bright colors, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Lift the can with red green label, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the red green beverage can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the metal can with pull-tab top with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Pick up the red green can, put it in the yellow basket, and lift the yellow basket.", + "Grab the drink can with bright colors, place it in the handheld basket, and then lift the handheld basket.", + "Use the right arm to grab the can with red green label, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the can with red green label, put it into the plastic basket, and lift the plastic basket.", + "Pick up the metal can with pull-tab top using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Lift the smooth cylindrical can with lime pattern, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick up the colorful can with lime and orange design, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Drop the small soda can with lime graphics into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Take the red green beverage can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the can with red green label with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm for the soda can with lime illustration, place the soda can with lime illustration in the basket with black handle, and lift the basket with black handle.", + "Place the small soda can with lime graphics in the plastic basket and then use another arm to lift the plastic basket.", + "Grab the metal can with pull-tab top, set it into the bright yellow basket, then raise the bright yellow basket.", + "Use the same arm to grab the red green can, place in the basket with black handle, and then lift the basket with black handle.", + "Pick the beverage can with red green graphics, set it in the basket with black handle, then lift the basket with black handle.", + "Lift the soda can with lime illustration, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Use the right arm to grab the drink can with bright colors, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Pick the red green beverage can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Grab the small soda can with lime graphics, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Place the drink can with bright colors in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Take the drink can with bright colors with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the right arm to grab the colorful can with lime and orange design and place in the handheld basket, lift the handheld basket with another arm.", + "Lift the green red metallic soda can, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Grab and drop the metallic drink can with pull-tab in the basket with perforated sides, lift the basket with perforated sides.", + "Pick the red green can using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Take the can with red green label, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Grab the red green beverage can, put it in the handheld basket, then raise the handheld basket.", + "Use the right arm to grab the metallic drink can with pull-tab, put it into the bright yellow basket, and lift the bright yellow basket with another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick the colorful can with lime and orange design with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Take the red green can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Use the right arm to take the metallic drink can with pull-tab, drop it in the handheld basket, and lift the handheld basket.", + "Grab the small soda can with lime graphics using the right arm, drop the small soda can with lime graphics into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Grab the metal can with pull-tab top, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Lift the smooth cylindrical can with lime pattern, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick up the can with red green label, set it inside the handheld basket, then lift the handheld basket.", + "Pick up the metallic drink can with pull-tab, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Hold the soda can with lime illustration using the right arm, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Lift the green red metallic soda can, place it in the yellow basket, pick up the yellow basket afterward.", + "Use the right arm to pick the metal can with pull-tab top, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red green can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the metallic drink can with pull-tab with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Take the metal can with pull-tab top, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the small soda can with lime graphics, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Use the right arm to hold the soda can with lime illustration, drop the soda can with lime illustration into the basket with perforated sides, and lift the basket with perforated sides.", + "Place the red green can inside the bright yellow basket, then lift the bright yellow basket.", + "Pick the colorful can with lime and orange design, set it in the plastic basket, and lift the plastic basket upward.", + "Lift the beverage can with red green graphics, set it in the yellow basket, and elevate the yellow basket.", + "Grab the can with red green label, drop it into the plastic basket, then use another arm for the plastic basket.", + "Pick up the metal can with pull-tab top with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Pick up the small soda can with lime graphics, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the smooth cylindrical can with lime pattern, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the green red metallic soda can, place it in the handheld basket, and lift the handheld basket.", + "Pick up the soda can with lime illustration, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the beverage can with red green graphics using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Lift the metal can with pull-tab top, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the can with red green label, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface." + ], + "unseen": [ + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..706e5af730a3cce3eec1676dd8aac2082d69d24d --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for the metallic drink can with pull-tab, place the metallic drink can with pull-tab in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the drink can with bright colors using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the drink can with bright colors, place it in the yellow basket, and then lift the yellow basket.", + "Place the red green can in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the right arm to grab the green red metallic soda can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the red green can using the right arm, drop the red green can into the rectangular basket with smooth surface and lift the rectangular basket with smooth surface.", + "Pick the metal can with pull-tab top, set it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab the green red metallic soda can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Pick the beverage can with red green graphics with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Use the right arm to pick the green red metallic soda can, place it inside the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the metal can with pull-tab top, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Take the smooth cylindrical can with lime pattern in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Pick up the red green beverage can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Grab the beverage can with red green graphics, drop it into the rectangular yellow basket, and raise the rectangular yellow basket with the other arm.", + "Lift the colorful can with lime and orange design, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Grab and drop the green red metallic soda can in the basket with perforated sides, lift the basket with perforated sides.", + "Pick up the metal can with pull-tab top, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the small soda can with lime graphics with the right arm, set it in the handheld basket, and lift with another arm.", + "Grab the smooth cylindrical can with lime pattern, put it in the bright yellow basket, then raise the bright yellow basket.", + "Hold the smooth cylindrical can with lime pattern using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Grab the drink can with bright colors with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the metal can with pull-tab top, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Grab the metal can with pull-tab top, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick the green red metallic soda can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the same arm to grab the drink can with bright colors, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the metal can with pull-tab top, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Place the drink can with bright colors in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Pick up the metallic drink can with pull-tab, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the metal can with pull-tab top, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the metal can with pull-tab top, place it in the plastic basket, and raise the plastic basket.", + "Use the right arm to grab the colorful can with lime and orange design and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Take the green red metallic soda can with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Grab the green red metallic soda can, drop it into the plastic basket, and raise the plastic basket.", + "Lift the green red metallic soda can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Use the right arm to take the beverage can with red green graphics, drop it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the red green beverage can with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Lift the red green can, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Pick up the metal can with pull-tab top, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the colorful can with lime and orange design, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Drop the metallic drink can with pull-tab into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Pick up the beverage can with red green graphics, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Place the red green beverage can inside the yellow basket, then lift the yellow basket.", + "Pick the smooth cylindrical can with lime pattern using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm to hold the small soda can with lime graphics, drop the small soda can with lime graphics into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Take the green red metallic soda can and put it in the bright yellow basket, then lift the bright yellow basket.", + "Lift the can with red green label, set it in the yellow basket, and elevate the yellow basket.", + "Pick up the red green can, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Take the smooth cylindrical can with lime pattern, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the smooth cylindrical can with lime pattern, set it in the basket with black handle, and lift the basket with black handle upward.", + "Grab the small soda can with lime graphics, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Use the right arm for the drink can with bright colors, place the drink can with bright colors in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the green red metallic soda can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Grab the colorful can with lime and orange design, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the beverage can with red green graphics in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the metal can with pull-tab top, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the small soda can with lime graphics using the right arm, drop the small soda can with lime graphics into the handheld basket and lift the handheld basket.", + "Pick the metal can with pull-tab top, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the soda can with lime illustration, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Pick the soda can with lime illustration with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Use the right arm to pick the can with red green label, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the small soda can with lime graphics, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Take the can with red green label in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Pick up the metal can with pull-tab top with the right arm, place into the handheld basket, the other arm raises the handheld basket.", + "Grab the smooth cylindrical can with lime pattern, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the metallic drink can with pull-tab, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Grab and drop the colorful can with lime and orange design in the basket with arched black grip, lift the basket with arched black grip.", + "Pick up the soda can with lime illustration, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red green can with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the metallic drink can with pull-tab, put it in the basket with black handle, then raise the basket with black handle.", + "Hold the metal can with pull-tab top using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the red green can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the can with red green label, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Grab the soda can with lime illustration, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots upwards.", + "Pick the red green can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the same arm to grab the red green can, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Grab the metallic drink can with pull-tab, set it into the plastic basket, then raise the plastic basket.", + "Place the metallic drink can with pull-tab in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Pick up the smooth cylindrical can with lime pattern, put it in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the red green can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Lift the small soda can with lime graphics, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the smooth cylindrical can with lime pattern and place in the basket with black handle, lift the basket with black handle with another arm.", + "Take the drink can with bright colors with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Grab the smooth cylindrical can with lime pattern, drop it into the yellow basket, and raise the yellow basket.", + "Lift the drink can with bright colors, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Use the right arm to take the beverage can with red green graphics, drop it in the yellow basket, and lift the yellow basket.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the metal can with pull-tab top, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Pick up the green red metallic soda can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the metallic drink can with pull-tab, place it into the handheld basket, then lift the handheld basket.", + "Drop the red green beverage can into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Pick up the can with red green label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Place the drink can with bright colors inside the basket with black handle, then lift the basket with black handle.", + "Pick the small soda can with lime graphics using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Use the right arm to hold the metal can with pull-tab top, drop the metal can with pull-tab top into the yellow basket, and lift the yellow basket.", + "Take the beverage can with red green graphics and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the colorful can with lime and orange design, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the red green beverage can, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the small soda can with lime graphics, set it into the basket with black handle, and raise the basket with black handle.", + "Pick the soda can with lime illustration, set it in the basket with black handle, and lift the basket with black handle upward.", + "Grab the can with red green label, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm." + ], + "unseen": [ + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the hand-sized can with metallic finish, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..234dc86e322d06281f09569edf928ad0b117de72 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth red can with silver bottom, place it in the handheld basket, and lift the handheld basket upwards.", + "Use the same arm to grab the red can with white Coca-Cola logo, place in the bright yellow basket, and then lift the bright yellow basket.", + "Grab the rounded red Coca-Cola soda container, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the red cylindrical can with silver top, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Grab the smooth red can with silver bottom, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Place the red can with white Coca-Cola logo in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the smooth red can with silver bottom in the right arm, place it into the handheld basket, another arm lifts the handheld basket.", + "Lift the red can with white lettering, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Grab the Coca-Cola soda can, drop it into the rectangular yellow basket, then use another arm for the rectangular yellow basket.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the red can with white lettering using the right arm, drop the red can with white lettering into the bright yellow basket and lift the bright yellow basket.", + "Pick up the smooth red can with silver bottom with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Grab the Coca-Cola soda can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Use the right arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the yellow basket, and lift the yellow basket.", + "Pick up the metallic red beverage can using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Use the right arm to grab the small aluminum red drink can, place it in the yellow basket, and lift the yellow basket.", + "Pick the rounded red Coca-Cola soda container, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Use the right arm to pick the hand-sized red can for drinks, place it inside the yellow basket, then lift the yellow basket.", + "Pick up the small aluminum red drink can, set it inside the basket with black handle, then lift the basket with black handle.", + "Lift the red can with white lettering, set it in the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the Coca-Cola soda can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the yellow basket, and lift the yellow basket.", + "Lift the red cylindrical can with silver top, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Pick the metallic red beverage can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Lift the red can with smooth metallic texture, place it inside the yellow basket, and elevate the yellow basket.", + "Use the right arm to grab the Coca-Cola soda can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab and drop the rounded red Coca-Cola soda container in the basket with arched black grip, lift the basket with arched black grip.", + "Pick the metallic red beverage can using the right arm, drop it in the yellow basket, and lift the yellow basket with the other arm.", + "Drop the Coca-Cola soda can into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.", + "Hold the hand-sized red can for drinks using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the Coca-Cola can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Pick the metallic red beverage can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Take the cylindrical red drink can with logo, place it into the bright yellow basket, then lift the bright yellow basket.", + "Pick up the red can with white Coca-Cola logo, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Take the metallic red beverage can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the rounded red Coca-Cola soda container, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Use the right arm to take the Coca-Cola can, drop it in the handheld basket, and lift the handheld basket.", + "Pick up the smooth red can with silver bottom, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Place the cylindrical red drink can with logo inside the handheld basket, then lift the handheld basket.", + "Pick up the red can with white lettering, put it in the bright yellow basket, and lift the bright yellow basket.", + "Grab the metallic red beverage can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the red can with white lettering with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Take the cylindrical red drink can with logo, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the Coca-Cola soda can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Pick the red cylindrical can with silver top, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the metallic red beverage can in the plastic basket and then use another arm to lift the plastic basket.", + "Pick up the hand-sized red can for drinks, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the small aluminum red drink can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the rounded red Coca-Cola soda container, drop it into the handheld basket, then carry the handheld basket.", + "Lift the red can with white Coca-Cola logo, place it in the basket with perforated sides, pick up the basket with perforated sides afterward.", + "Grab the Coca-Cola can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Use the same arm to grab the Coca-Cola soda can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Grab the metallic red beverage can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the right arm to grab the red cylindrical can with silver top, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Grab the smooth red can with silver bottom, set it into the yellow basket, then raise the yellow basket.", + "Place the hand-sized red can for drinks in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Lift the Coca-Cola soda can, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the rounded red Coca-Cola soda container, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Pick the Coca-Cola can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the red can with white Coca-Cola logo using the right arm, drop the red can with white Coca-Cola logo into the medium yellow basket with slots and lift the medium yellow basket with slots.", + "Pick up the hand-sized red can for drinks with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the rounded red Coca-Cola soda container, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the small aluminum red drink can using the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to grab the rounded red Coca-Cola soda container, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the metallic red beverage can, set it in the plastic basket, and lift the plastic basket upward.", + "Use the right arm to pick the Coca-Cola soda can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the small aluminum red drink can, set it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the red can with white lettering, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Use the right arm to grab the smooth red can with silver bottom, place it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using the other arm.", + "Use the right arm to hold the red can with white Coca-Cola logo, drop the red can with white Coca-Cola logo into the plastic basket, and lift the plastic basket.", + "Lift the red can with white Coca-Cola logo, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the red cylindrical can with silver top with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the small aluminum red drink can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Use the right arm to grab the red cylindrical can with silver top and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Grab and drop the Coca-Cola can in the basket with black handle, lift the basket with black handle.", + "Pick the red can with white lettering using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Drop the Coca-Cola soda can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Hold the cylindrical red drink can with logo using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Take the Coca-Cola can with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the Coca-Cola soda can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Take the red cylindrical can with silver top, place it into the yellow basket, then lift the yellow basket.", + "Pick up the Coca-Cola can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Take the hand-sized red can for drinks and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the smooth red can with silver bottom, put it in the yellow basket, then raise the yellow basket.", + "Use the right arm to take the red cylindrical can with silver top, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red can with white Coca-Cola logo, place it in the yellow basket, and then lift the yellow basket.", + "Place the hand-sized red can for drinks inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Pick up the Coca-Cola soda can, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the rounded red Coca-Cola soda container, place it in the handheld basket, and then lift the handheld basket.", + "Lift the cylindrical red drink can with logo with the right arm, set it in the handheld basket, and lift with another arm.", + "Take the rounded red Coca-Cola soda container, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the hand-sized red can for drinks, drop it into the handheld basket, and raise the handheld basket with the other arm.", + "Pick the red can with smooth metallic texture, set it in the plastic basket, then lift the plastic basket.", + "Place the small aluminum red drink can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Pick up the red cylindrical can with silver top, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the smooth red can with silver bottom with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the red can with white lettering, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Lift the cylindrical red drink can with logo, place it in the basket with perforated sides, pick up the basket with perforated sides afterward." + ], + "unseen": [ + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..2d4f4dee63c574d9f7319147d1e20a160995514c --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the Coca-Cola can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the red cylindrical can with silver top, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the red can with white lettering with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Place the metallic red beverage can in the rectangular yellow basket and then use another arm to lift the rectangular yellow basket.", + "Lift the rounded red Coca-Cola soda container, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Lift the red can with white lettering, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Take the rounded red Coca-Cola soda container with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the rounded red Coca-Cola soda container, set it inside the handheld basket, then lift the handheld basket.", + "Pick up the red cylindrical can with silver top with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Take the rounded red Coca-Cola soda container, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick the small aluminum red drink can, set it in the yellow basket, then lift the yellow basket.", + "Pick the rounded red Coca-Cola soda container with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the rounded red Coca-Cola soda container, drop it into the handheld basket, then use another arm for the handheld basket.", + "Grab the hand-sized red can for drinks using the right arm, drop the hand-sized red can for drinks into the handheld basket and lift the handheld basket.", + "Drop the metallic red beverage can into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Use the right arm to grab the red can with white lettering, place it into the basket with perforated sides, and lift the basket with perforated sides using the other arm.", + "Lift the red can with smooth metallic texture, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Grab the Coca-Cola can, place it in the plastic basket, and raise the plastic basket using the other arm.", + "Grab the Coca-Cola can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Use the right arm to grab the smooth red can with silver bottom and place in the yellow basket, lift the yellow basket with another arm.", + "Pick up the red cylindrical can with silver top, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the cylindrical red drink can with logo with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Lift the smooth red can with silver bottom, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Pick the red cylindrical can with silver top using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Use the right arm to pick the small aluminum red drink can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red cylindrical can with silver top, place it in the handheld basket, and then lift the handheld basket.", + "Use the right arm for the red cylindrical can with silver top, place the red cylindrical can with silver top in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to grab the smooth red can with silver bottom, put it into the plastic basket, and lift the plastic basket with another arm.", + "Use the right arm to hold the red can with white lettering, drop the red can with white lettering into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the hand-sized red can for drinks using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the cylindrical red drink can with logo, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the red cylindrical can with silver top in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Grab and drop the small aluminum red drink can in the medium yellow basket with slots, lift the medium yellow basket with slots.", + "Grab the Coca-Cola soda can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Lift the rounded red Coca-Cola soda container, place it in the basket with black handle, and raise the basket with black handle.", + "Pick the metallic red beverage can, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots upward.", + "Pick up the red can with white lettering, put it in the yellow basket, and lift the yellow basket.", + "Use the same arm to grab the smooth red can with silver bottom, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Use the right arm to grab the metallic red beverage can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the smooth red can with silver bottom, drop it into the yellow basket, and raise the yellow basket.", + "Grab the metallic red beverage can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Take the small aluminum red drink can and put it in the handheld basket, then lift the handheld basket.", + "Place the hand-sized red can for drinks in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Pick up the hand-sized red can for drinks, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the Coca-Cola can, place it in the rectangular yellow basket, and lift the rectangular yellow basket upwards.", + "Hold the small aluminum red drink can using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the small aluminum red drink can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to take the Coca-Cola soda can, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the small aluminum red drink can with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Grab the hand-sized red can for drinks, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Place the cylindrical red drink can with logo inside the basket with arched black grip, then lift the basket with arched black grip.", + "Lift the metallic red beverage can, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.", + "Grab the small aluminum red drink can with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Place the Coca-Cola can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Lift the Coca-Cola soda can, set it in the handheld basket, and elevate the handheld basket.", + "Lift the Coca-Cola soda can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Take the cylindrical red drink can with logo with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the Coca-Cola can, set it inside the yellow basket, then lift the yellow basket.", + "Pick up the red can with white Coca-Cola logo with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Take the red cylindrical can with silver top, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Pick the smooth red can with silver bottom, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the metallic red beverage can with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the hand-sized red can for drinks, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Grab the Coca-Cola soda can using the right arm, drop the Coca-Cola soda can into the yellow basket and lift the yellow basket.", + "Drop the cylindrical red drink can with logo into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to grab the metallic red beverage can, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Lift the small aluminum red drink can, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the hand-sized red can for drinks, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.", + "Grab the smooth red can with silver bottom, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Use the right arm to grab the cylindrical red drink can with logo and place in the handheld basket, lift the handheld basket with another arm.", + "Pick up the red cylindrical can with silver top, place it into the plastic basket, then lift the plastic basket.", + "Pick the red cylindrical can with silver top with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Lift the red can with smooth metallic texture, drop it into the basket with black handle, then carry the basket with black handle.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Use the right arm to pick the red can with white Coca-Cola logo, place it inside the plastic basket, then lift the plastic basket.", + "Pick up the Coca-Cola can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Use the right arm for the small aluminum red drink can, place the small aluminum red drink can in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm to grab the red can with white Coca-Cola logo, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Use the right arm to hold the small aluminum red drink can, drop the small aluminum red drink can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the small aluminum red drink can using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Take the metallic red beverage can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Take the rounded red Coca-Cola soda container in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab and drop the metallic red beverage can in the yellow basket, lift the yellow basket.", + "Grab the hand-sized red can for drinks, put it in the handheld basket, then raise the handheld basket.", + "Lift the red can with white lettering, place it in the handheld basket, and raise the handheld basket.", + "Pick the red can with white Coca-Cola logo, set it in the yellow basket, and lift the yellow basket upward.", + "Pick up the red can with white lettering, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the same arm to grab the hand-sized red can for drinks, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Use the right arm to grab the hand-sized red can for drinks, place it in the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the Coca-Cola soda can, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Grab the small aluminum red drink can, place it in the handheld basket, and then lift the handheld basket.", + "Take the hand-sized red can for drinks and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the metallic red beverage can in the basket with arched black grip and then lift the basket with arched black grip.", + "Pick up the small aluminum red drink can, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the Coca-Cola can, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Hold the red cylindrical can with silver top using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Pick the small aluminum red drink can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the basket with black handle, and lift the basket with black handle.", + "Lift the rounded red Coca-Cola soda container with the right arm, set it in the yellow basket for carrying stuff, and lift with another arm.", + "Grab the red can with smooth metallic texture, set it into the plastic basket, then raise the plastic basket." + ], + "unseen": [ + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the red can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..a79f2ecd5cd3eeee1e003bbe5af0c645dbcd2f09 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic can with rounded edges, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Grab the red can, drop it into the yellow basket, and raise the yellow basket.", + "Pick up the bright red drink container can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the gold-decorated aluminum can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Use the right arm to pick the metallic soda can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the metallic soda can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick up the red and gold cylindrical can, put it into the yellow basket, and lift the yellow basket.", + "Grab the gold-decorated aluminum can, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the compact metal drink can with the right arm, set it in the yellow basket, and lift with another arm.", + "Grab the red beverage can with curved top with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Lift the palm-sized drink can, set it in the handheld basket, and elevate the handheld basket.", + "Place the gold patterned beverage can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Take the palm-sized drink can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Place the smooth red soda can inside the basket with perforated sides, then lift the basket with perforated sides.", + "Take the metallic can with rounded edges and put it in the handheld basket, then lift the handheld basket.", + "Grab the metallic can with rounded edges, set it into the plastic basket, then raise the plastic basket.", + "Grab the red beverage can with curved top, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab and drop the compact metal drink can in the rectangular yellow basket, lift the rectangular yellow basket.", + "Pick up the red can with gold illustrations, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the metallic can with rounded edges using the right arm, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Grab the bright red drink container can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upwards.", + "Grab the bright red drink container can, put it in the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Pick the red can with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to grab the compact metal drink can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Take the smooth red soda can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Use the right arm to take the gold patterned beverage can, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick the palm-sized drink can, set it in the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm for the palm-sized drink can, place the palm-sized drink can in the yellow basket, and lift the yellow basket.", + "Pick up the palm-sized drink can with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Drop the compact metal drink can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Grab the red can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Lift the red and gold cylindrical can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the same arm to grab the gold-decorated aluminum can, place in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Lift the gold-decorated aluminum can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the red and gold cylindrical can, set it in the plastic basket, and lift the plastic basket upward.", + "Lift the red can, drop it into the yellow basket, then carry the yellow basket.", + "Hold the compact metal drink can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Lift the red and gold cylindrical can, put it in the plastic basket, and carry the plastic basket afterward.", + "Lift the bright red drink container can, place it inside the handheld basket, and elevate the handheld basket.", + "Use the right arm to grab the metallic soda can and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.", + "Pick up the gold patterned beverage can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the metallic soda can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Use the right arm to grab the gold patterned beverage can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the plastic basket, and lift the plastic basket.", + "Grab the red can with gold illustrations, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Pick up the red beverage can with curved top, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the bright red drink container can with the right arm, drop it in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.", + "Place the red and gold cylindrical can in the handheld basket and then lift the handheld basket.", + "Take the red and gold cylindrical can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Take the metallic soda can, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Grab the metallic can with rounded edges, drop it into the plastic basket, and raise the plastic basket.", + "Pick up the red beverage can with curved top, place it into the handheld basket, then lift the handheld basket.", + "Pick up the compact metal drink can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm to pick the metallic soda can, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to grab the palm-sized drink can, put it into the plastic basket, and lift the plastic basket with another arm.", + "Pick up the gold-decorated aluminum can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the metallic soda can, drop it into the plastic basket, then use another arm for the plastic basket.", + "Lift the gold-decorated aluminum can with the right arm, set it in the yellow basket, and lift with another arm.", + "Grab the gold patterned beverage can with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the red can with gold illustrations, set it in the yellow basket, and elevate the yellow basket.", + "Place the smooth red soda can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Take the compact metal drink can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the bright red drink container can inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the metallic soda can and put it in the yellow basket, then lift the yellow basket.", + "Grab the metallic soda can, set it into the yellow basket, then raise the yellow basket.", + "Grab the red and gold cylindrical can, place it in the yellow basket, and then lift the yellow basket.", + "Grab and drop the gold patterned beverage can in the basket with arched black grip, lift the basket with arched black grip.", + "Pick up the smooth red soda can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the gold-decorated aluminum can using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Grab the bright red drink container can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Grab the red and gold cylindrical can, put it in the basket with black handle, then raise the basket with black handle.", + "Pick the bright red drink container can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the metallic soda can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Take the red can with gold illustrations in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Use the right arm to take the bright red drink container can, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the compact metal drink can, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm for the gold patterned beverage can, place the gold patterned beverage can in the basket with black handle, and lift the basket with black handle.", + "Pick up the metallic soda can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Drop the metallic can with rounded edges into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Grab the compact metal drink can, drop it into the basket with arched black grip, and raise the basket with arched black grip with the other arm.", + "Lift the palm-sized drink can, place it in the handheld basket, and raise the handheld basket.", + "Use the same arm to grab the metallic soda can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Lift the metallic soda can, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick the metallic can with rounded edges, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Lift the red beverage can with curved top, drop it into the handheld basket, then carry the handheld basket.", + "Hold the gold-decorated aluminum can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Lift the gold patterned beverage can, put it in the yellow basket, and carry the yellow basket afterward.", + "Lift the smooth red soda can, place it inside the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Use the right arm to grab the red can and place in the basket with black handle, lift the basket with black handle with another arm.", + "Pick up the smooth red soda can, put it in the handheld basket, and lift the handheld basket.", + "Pick the gold-decorated aluminum can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to grab the red can with gold illustrations, place it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to hold the palm-sized drink can, drop the palm-sized drink can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the bright red drink container can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Pick up the red can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick the red beverage can with curved top with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Place the red can in the basket with black handle and then lift the basket with black handle.", + "Take the palm-sized drink can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the red can with gold illustrations using the right arm, drop the red can with gold illustrations into the basket with perforated sides and lift the basket with perforated sides." + ], + "unseen": [ + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..685a2102beebbef7e8d2916494f98b74d1dd1fb2 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the cylindrical red drink can with logo and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the red cylindrical can with silver top with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Pick up the red can with smooth metallic texture using the right arm, drop it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Lift the red can with white Coca-Cola logo, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the red can with white Coca-Cola logo, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Use the right arm to hold the red can with white Coca-Cola logo, drop the red can with white Coca-Cola logo into the plastic basket, and lift the plastic basket.", + "Use the right arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the rounded red Coca-Cola soda container, place it inside the handheld basket, then lift the handheld basket.", + "Grab the red can with smooth metallic texture using the right arm, drop the red can with smooth metallic texture into the plastic basket and lift the plastic basket.", + "Pick the Coca-Cola can with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Lift the hand-sized red can for drinks, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Place the metallic red beverage can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the hand-sized red can for drinks, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the metallic red beverage can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Place the Coca-Cola can in the bright yellow basket and then lift the bright yellow basket.", + "Grab the red can with white lettering, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Grab the red can with smooth metallic texture, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Drop the Coca-Cola can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Hold the red can with smooth metallic texture using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red cylindrical can with silver top with the right arm, place into the rectangular basket with smooth surface, the other arm raises the rectangular basket with smooth surface.", + "Take the red can with smooth metallic texture, place it into the basket with black handle, then lift the basket with black handle.", + "Grab and drop the smooth red can with silver bottom in the bright yellow basket, lift the bright yellow basket.", + "Pick up the small aluminum red drink can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the red can with white lettering with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the rounded red Coca-Cola soda container, drop it into the plastic basket, and raise the plastic basket with the other arm.", + "Pick the red can with white Coca-Cola logo with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the metallic red beverage can, put it in the plastic basket, then raise the plastic basket.", + "Place the hand-sized red can for drinks in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Lift the metallic red beverage can, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Pick up the smooth red can with silver bottom, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the metallic red beverage can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Grab the small aluminum red drink can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick up the red cylindrical can with silver top, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the hand-sized red can for drinks, set it into the basket with arched black grip, then raise the basket with arched black grip.", + "Take the small aluminum red drink can with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Take the red can with white lettering in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Take the metallic red beverage can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Lift the red cylindrical can with silver top, place it in the yellow basket, and raise the yellow basket.", + "Pick up the small aluminum red drink can, put it in the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the smooth red can with silver bottom, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the red can with white lettering, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Grab the red cylindrical can with silver top with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the rounded red Coca-Cola soda container, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Use the right arm to take the red can with smooth metallic texture, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the small aluminum red drink can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to grab the smooth red can with silver bottom, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Use the same arm to grab the red can with white lettering, place in the basket with black handle, and then lift the basket with black handle.", + "Use the right arm to grab the Coca-Cola soda can, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the red can with white lettering and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the small aluminum red drink can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Take the Coca-Cola soda can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the smooth red can with silver bottom with the right arm, set it in the handheld basket, and lift with another arm.", + "Pick up the red cylindrical can with silver top using the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the red can with white lettering, place it inside the plastic basket, and elevate the plastic basket.", + "Grab the hand-sized red can for drinks, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Use the right arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm for the cylindrical red drink can with logo, place the cylindrical red drink can with logo in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to pick the metallic red beverage can, place it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the red can with white lettering using the right arm, drop the red can with white lettering into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Pick the red cylindrical can with silver top with the right arm, set it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Lift the metallic red beverage can, drop it into the yellow basket for carrying stuff, then carry the yellow basket for carrying stuff.", + "Place the red cylindrical can with silver top inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the small aluminum red drink can, set it in the yellow basket, then lift the yellow basket.", + "Pick the hand-sized red can for drinks using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Place the red can with smooth metallic texture in the handheld basket and then lift the handheld basket.", + "Grab the hand-sized red can for drinks, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Grab the red cylindrical can with silver top, place it in the basket with black handle, and then lift the basket with black handle.", + "Drop the hand-sized red can for drinks into the handheld basket using the right arm, then lift the handheld basket with another arm.", + "Hold the metallic red beverage can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Pick up the red cylindrical can with silver top with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Take the metallic red beverage can, place it into the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab and drop the rounded red Coca-Cola soda container in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the rounded red Coca-Cola soda container, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the red can with white Coca-Cola logo with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the metallic red beverage can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Pick the hand-sized red can for drinks with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Grab the rounded red Coca-Cola soda container, put it in the plastic basket, then raise the plastic basket.", + "Place the Coca-Cola can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Lift the smooth red can with silver bottom, place it in the basket with black handle, pick up the basket with black handle afterward.", + "Pick up the Coca-Cola can, place it into the yellow basket, then lift the yellow basket.", + "Lift the cylindrical red drink can with logo, put it in the handheld basket, and carry the handheld basket afterward.", + "Grab the hand-sized red can for drinks, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick up the rounded red Coca-Cola soda container, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Grab the cylindrical red drink can with logo, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Take the red can with smooth metallic texture with the right arm, drop it into the handheld basket, and lift the handheld basket using another arm.", + "Take the red can with white lettering in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Take the Coca-Cola soda can, set it into the plastic basket, and raise the plastic basket.", + "Lift the smooth red can with silver bottom, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the red cylindrical can with silver top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to grab the Coca-Cola soda can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick the red cylindrical can with silver top, set it in the yellow basket, and lift the yellow basket upward.", + "Grab the small aluminum red drink can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the red can with white Coca-Cola logo, set it in the plastic basket, and elevate the plastic basket.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the handheld basket, and lift the handheld basket.", + "Grab the red can with smooth metallic texture, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the red can with smooth metallic texture, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Use the same arm to grab the metallic red beverage can, place in the plastic basket, and then lift the plastic basket.", + "Use the right arm to grab the Coca-Cola can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to grab the Coca-Cola can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the smooth red can with silver bottom, put it into the basket with black handle, and lift the basket with black handle." + ], + "unseen": [ + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..489715b6c88585d34388ec42e04bc9bc2d673032 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Drop the red can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Lift the bright red drink container can, set it in the basket with perforated sides, and elevate the basket with perforated sides.", + "Pick up the red can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to pick the metallic soda can, place it inside the basket with black handle, then lift the basket with black handle.", + "Use the right arm to grab the metallic can with rounded edges, place it in the bright yellow basket, and lift the bright yellow basket.", + "Grab and drop the red can with gold illustrations in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the red can, set it inside the plastic basket, then lift the plastic basket.", + "Grab the gold patterned beverage can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Pick up the red beverage can with curved top, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick up the gold patterned beverage can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Take the red can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Lift the gold patterned beverage can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Place the red can inside the basket with black handle, then lift the basket with black handle.", + "Grab the smooth red soda can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the metallic can with rounded edges, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the palm-sized drink can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Take the compact metal drink can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Use the right arm to grab the metallic can with rounded edges, put it into the basket with black handle, and lift the basket with black handle with another arm.", + "Pick the metallic can with rounded edges using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Take the gold-decorated aluminum can and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Place the bright red drink container can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Grab the palm-sized drink can, put it in the basket with perforated sides, then raise the basket with perforated sides.", + "Grab the red can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the red and gold cylindrical can in the carrying basket with black plastic handle and then lift the carrying basket with black plastic handle.", + "Pick the compact metal drink can with one arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to take the metallic soda can, drop it in the basket with black handle, and lift the basket with black handle.", + "Lift the red can, place it in the bright yellow basket, and raise the bright yellow basket.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the plastic basket and lift the plastic basket.", + "Use the right arm to grab the red can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Take the red can in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick the gold patterned beverage can with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Use the right arm to grab the red and gold cylindrical can and place in the handheld basket, lift the handheld basket with another arm.", + "Grab the palm-sized drink can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff using the other arm.", + "Lift the red and gold cylindrical can, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Pick the metallic soda can, set it in the basket with black handle, then lift the basket with black handle.", + "Grab the red can with gold illustrations, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff upwards.", + "Lift the compact metal drink can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Hold the metallic soda can using the right arm, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the red can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm for the smooth red soda can, place the smooth red soda can in the handheld basket, and lift the handheld basket.", + "Take the red and gold cylindrical can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the red and gold cylindrical can with the right arm, drop it in the yellow basket, lift the yellow basket with another arm.", + "Lift the compact metal drink can with the right arm, set it in the rectangular basket with smooth surface, and lift with another arm.", + "Use the same arm to grab the gold patterned beverage can, place in the handheld basket, and then lift the handheld basket.", + "Grab the compact metal drink can, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Pick up the red can with gold illustrations with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the red and gold cylindrical can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the metallic can with rounded edges, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the red beverage can with curved top, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Drop the palm-sized drink can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.", + "Lift the metallic soda can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.", + "Pick up the red can with gold illustrations, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to pick the gold-decorated aluminum can, place it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to grab the red can with gold illustrations, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab and drop the gold patterned beverage can in the basket with black handle, lift the basket with black handle.", + "Pick up the bright red drink container can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the metallic can with rounded edges, drop it into the yellow basket, then use another arm for the yellow basket.", + "Pick up the red can with gold illustrations, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the plastic basket, and lift the plastic basket.", + "Pick up the gold patterned beverage can using the right arm, drop it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.", + "Take the metallic can with rounded edges with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the metallic soda can, put it in the yellow basket, and carry the yellow basket afterward.", + "Place the metallic can with rounded edges inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red can with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Lift the palm-sized drink can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Grab the bright red drink container can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.", + "Take the red beverage can with curved top, set it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.", + "Use the right arm to grab the metallic can with rounded edges, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick the red can using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Take the gold patterned beverage can and put it in the plastic basket, then lift the plastic basket.", + "Place the gold-decorated aluminum can in the handheld basket and then use another arm to lift the handheld basket.", + "Grab the red and gold cylindrical can, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the smooth red soda can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Place the gold patterned beverage can in the yellow basket and then lift the yellow basket.", + "Pick the compact metal drink can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to take the gold patterned beverage can, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the red and gold cylindrical can, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Grab the smooth red soda can using the right arm, drop the smooth red soda can into the basket with arched black grip and lift the basket with arched black grip.", + "Use the right arm to grab the red beverage can with curved top, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Take the palm-sized drink can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Pick the gold patterned beverage can with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to grab the compact metal drink can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Grab the red and gold cylindrical can, place it in the basket with perforated sides, and raise the basket with perforated sides using the other arm.", + "Lift the red beverage can with curved top, drop it into the bright yellow basket, then carry the bright yellow basket.", + "Pick the metallic can with rounded edges, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the red can, place it in the basket with arched black grip, and lift the basket with arched black grip upwards.", + "Lift the compact metal drink can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Hold the bright red drink container can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Pick up the palm-sized drink can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Use the right arm for the red can, place the red can in the basket with arched black grip, and lift the basket with arched black grip.", + "Take the smooth red soda can, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the bright red drink container can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Lift the gold-decorated aluminum can with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the same arm to grab the gold-decorated aluminum can, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the metallic can with rounded edges, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Pick up the red beverage can with curved top with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Grab the gold patterned beverage can, drop it into the basket with black handle, and raise the basket with black handle.", + "Pick up the red can with gold illustrations, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Pick the smooth red soda can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward." + ], + "unseen": [ + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small aluminum can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small aluminum can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small aluminum can, place it into the medium-sized basket with perforated texture, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..b113a5f1aaf03ee417662002ea8c445a2588c37e --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the metallic soda can, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Lift the gold patterned beverage can, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Grab and drop the red and gold cylindrical can in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Grab the red can with gold illustrations, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the red and gold cylindrical can, set it inside the yellow basket, then lift the yellow basket.", + "Pick the bright red drink container can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Lift the compact metal drink can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Pick the bright red drink container can with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.", + "Grab the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Take the palm-sized drink can, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Pick up the compact metal drink can, put it in the basket with arched black grip, and lift the basket with arched black grip.", + "Pick up the red can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the compact metal drink can in the bright yellow basket and then lift the bright yellow basket.", + "Grab the bright red drink container can using the right arm, drop the bright red drink container can into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Lift the smooth red soda can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Pick up the bright red drink container can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.", + "Lift the metallic soda can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Take the metallic soda can in the right arm, place it into the yellow basket for carrying stuff, another arm lifts the yellow basket for carrying stuff.", + "Lift the metallic soda can, place it in the yellow basket, and raise the yellow basket.", + "Pick the bright red drink container can, set it in the handheld basket, then lift the handheld basket.", + "Grab the smooth red soda can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Take the red can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Pick the palm-sized drink can with one arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Use the right arm to hold the metallic soda can, drop the metallic soda can into the plastic basket, and lift the plastic basket.", + "Grab the metallic soda can with the right arm, put it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Place the gold patterned beverage can inside the basket with arched black grip, then lift the basket with arched black grip.", + "Take the gold patterned beverage can and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red and gold cylindrical can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the palm-sized drink can, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Use the right arm to grab the bright red drink container can, place it into the bright yellow basket, and lift the bright yellow basket using the other arm.", + "Hold the metallic can with rounded edges using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Lift the gold patterned beverage can with the right arm, set it in the handheld basket, and lift with another arm.", + "Use the right arm to grab the palm-sized drink can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Drop the smooth red soda can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the metallic can with rounded edges and place in the plastic basket, lift the plastic basket with another arm.", + "Pick up the compact metal drink can, put it into the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the gold patterned beverage can, place it in the handheld basket, and then lift the handheld basket.", + "Lift the metallic soda can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Use the right arm to pick the compact metal drink can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab the red beverage can with curved top, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Use the right arm for the metallic can with rounded edges, place the metallic can with rounded edges in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the same arm to grab the bright red drink container can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Pick the metallic can with rounded edges with the right arm, set it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Place the smooth red soda can in the handheld basket and then use another arm to lift the handheld basket.", + "Use the right arm to take the red beverage can with curved top, drop it in the yellow basket, and lift the yellow basket.", + "Grab the metallic soda can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Grab the compact metal drink can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Pick up the red and gold cylindrical can, place it into the yellow basket, then lift the yellow basket.", + "Grab the red can with gold illustrations, set it into the basket with perforated sides, then raise the basket with perforated sides.", + "Pick the metallic soda can, set it in the basket with arched black grip, and lift the basket with arched black grip upward.", + "Take the red can, place it into the plastic basket, then lift the plastic basket.", + "Lift the palm-sized drink can, place it in the carrying basket with black plastic handle, pick up the carrying basket with black plastic handle afterward.", + "Grab and drop the gold patterned beverage can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Grab the palm-sized drink can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the red can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the red can with gold illustrations using the right arm, drop it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Lift the red can with gold illustrations, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Pick the red beverage can with curved top with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the bright red drink container can, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Take the gold patterned beverage can, set it into the handheld basket, and raise the handheld basket.", + "Pick up the compact metal drink can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Pick up the red can using the right arm, drop it into the plastic basket, and lift the plastic basket with the other arm.", + "Place the smooth red soda can in the bright yellow basket and then lift the bright yellow basket.", + "Grab the gold-decorated aluminum can using the right arm, drop the gold-decorated aluminum can into the basket with perforated sides and lift the basket with perforated sides.", + "Lift the palm-sized drink can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Pick up the bright red drink container can with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Lift the red beverage can with curved top, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Take the red beverage can with curved top in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Lift the red can with gold illustrations, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the red can with gold illustrations, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the gold patterned beverage can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Take the metallic can with rounded edges with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick the palm-sized drink can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Use the right arm to hold the smooth red soda can, drop the smooth red soda can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the red can with gold illustrations with the right arm, put it into the yellow basket, and lift the yellow basket with the other arm.", + "Place the metallic soda can inside the bright yellow basket, then lift the bright yellow basket.", + "Take the gold-decorated aluminum can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the smooth red soda can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the red and gold cylindrical can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the bright red drink container can, place it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using the other arm.", + "Hold the smooth red soda can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Lift the compact metal drink can with the right arm, set it in the rectangular yellow basket, and lift with another arm.", + "Use the right arm to grab the red and gold cylindrical can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Drop the smooth red soda can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Use the right arm to grab the metallic can with rounded edges and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick up the metallic soda can, put it into the plastic basket, and lift the plastic basket.", + "Pick up the red can, place it in the basket with perforated sides, and then lift the basket with perforated sides.", + "Lift the gold patterned beverage can, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Use the right arm to pick the red can, place it inside the plastic basket, then lift the plastic basket.", + "Grab the red and gold cylindrical can, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Use the right arm for the red can with gold illustrations, place the red can with gold illustrations in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the same arm to grab the bright red drink container can, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the gold-decorated aluminum can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Place the gold patterned beverage can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Use the right arm to take the compact metal drink can, drop it in the plastic basket, and lift the plastic basket.", + "Grab the metallic can with rounded edges, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the gold patterned beverage can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Pick up the red beverage can with curved top, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the red and gold cylindrical can, set it into the handheld basket, then raise the handheld basket.", + "Pick the metallic soda can, set it in the handheld basket, and lift the handheld basket upward." + ], + "unseen": [ + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the small aluminum can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the gold and red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the gold and red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..94bb4bcc4382bb6292d3b61afc43250e93101961 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the Coca-Cola can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Lift the small aluminum red drink can, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.", + "Place the Coca-Cola can in the basket with arched black grip and then use another arm to lift the basket with arched black grip.", + "Lift the rounded red Coca-Cola soda container, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Lift the red can with smooth metallic texture, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick the red cylindrical can with silver top, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick the red can with white lettering with the right arm, set it in the basket with black handle, and lift the basket with black handle using another arm.", + "Pick up the cylindrical red drink can with logo, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Take the hand-sized red can for drinks, set it into the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the metallic red beverage can, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Grab the hand-sized red can for drinks, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the Coca-Cola can with the right arm, set it in the basket with black handle, and lift with another arm.", + "Use the right arm to grab the cylindrical red drink can with logo and place in the yellow basket, lift the yellow basket with another arm.", + "Grab the red can with white lettering, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab and drop the hand-sized red can for drinks in the basket with black handle, lift the basket with black handle.", + "Take the Coca-Cola can with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the cylindrical red drink can with logo using the right arm, drop the cylindrical red drink can with logo into the plastic basket and lift the plastic basket.", + "Lift the red can with white Coca-Cola logo, drop it into the handheld basket, then carry the handheld basket.", + "Use the right arm for the Coca-Cola can, place the Coca-Cola can in the handheld basket, and lift the handheld basket.", + "Use the right arm to take the red can with white lettering, drop it in the plastic basket, and lift the plastic basket.", + "Grab the red cylindrical can with silver top, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Take the red can with white lettering, place it into the handheld basket, then lift the handheld basket.", + "Take the red cylindrical can with silver top in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.", + "Grab the red can with white Coca-Cola logo, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Place the rounded red Coca-Cola soda container in the basket with perforated sides and then lift the basket with perforated sides.", + "Use the right arm to hold the red can with smooth metallic texture, drop the red can with smooth metallic texture into the bright yellow basket, and lift the bright yellow basket.", + "Use the same arm to grab the red can with smooth metallic texture, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Lift the cylindrical red drink can with logo, place it inside the handheld basket, and elevate the handheld basket.", + "Pick the cylindrical red drink can with logo with one arm, place it in the handheld basket, and lift the handheld basket using another arm.", + "Grab the Coca-Cola can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Pick up the cylindrical red drink can with logo, place it in the plastic basket, and then lift the plastic basket.", + "Pick the red can with white lettering with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Grab the red can with smooth metallic texture, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the small aluminum red drink can and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the Coca-Cola can, place it in the handheld basket, and lift the handheld basket upwards.", + "Grab the red cylindrical can with silver top, put it in the handheld basket, then raise the handheld basket.", + "Drop the Coca-Cola can into the rectangular yellow basket using the right arm, then lift the rectangular yellow basket with another arm.", + "Grab the small aluminum red drink can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.", + "Pick the red can with white Coca-Cola logo using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Place the red cylindrical can with silver top inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the smooth red can with silver bottom, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick up the rounded red Coca-Cola soda container, place it into the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to pick the rounded red Coca-Cola soda container, place it inside the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the metallic red beverage can, place it in the yellow basket, and lift the yellow basket.", + "Pick up the red cylindrical can with silver top using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Hold the hand-sized red can for drinks using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the red cylindrical can with silver top with the right arm, place into the yellow basket, the other arm raises the yellow basket.", + "Use the right arm to grab the small aluminum red drink can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Use the right arm to grab the red cylindrical can with silver top, place it into the yellow basket, and lift the yellow basket using the other arm.", + "Pick the metallic red beverage can, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Lift the Coca-Cola can, place it in the plastic basket, and raise the plastic basket.", + "Lift the rounded red Coca-Cola soda container, place it in the yellow basket, pick up the yellow basket afterward.", + "Place the red can with white Coca-Cola logo in the medium yellow basket with slots and then use another arm to lift the medium yellow basket with slots.", + "Lift the red can with white Coca-Cola logo, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.", + "Lift the red cylindrical can with silver top, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Pick the red can with white Coca-Cola logo, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Pick the red can with smooth metallic texture with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Pick up the rounded red Coca-Cola soda container, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Take the smooth red can with silver bottom, set it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the cylindrical red drink can with logo, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the rounded red Coca-Cola soda container, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the cylindrical red drink can with logo with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Use the right arm to grab the rounded red Coca-Cola soda container and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Grab the red can with white Coca-Cola logo, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle.", + "Grab and drop the cylindrical red drink can with logo in the basket with perforated sides, lift the basket with perforated sides.", + "Take the red cylindrical can with silver top with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the red can with white lettering using the right arm, drop the red can with white lettering into the yellow basket and lift the yellow basket.", + "Lift the red can with smooth metallic texture, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Use the right arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm to take the red can with white Coca-Cola logo, drop it in the yellow basket, and lift the yellow basket.", + "Grab the hand-sized red can for drinks, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Take the red can with smooth metallic texture, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Take the Coca-Cola soda can in the right arm, place it into the medium yellow basket with slots, another arm lifts the medium yellow basket with slots.", + "Grab the small aluminum red drink can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle using the other arm.", + "Place the red can with white Coca-Cola logo in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Use the right arm to hold the red can with white Coca-Cola logo, drop the red can with white Coca-Cola logo into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the same arm to grab the red can with white Coca-Cola logo, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Lift the rounded red Coca-Cola soda container, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Pick the metallic red beverage can with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.", + "Grab the Coca-Cola soda can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick up the small aluminum red drink can, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the red can with white Coca-Cola logo with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Grab the small aluminum red drink can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Take the small aluminum red drink can and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the cylindrical red drink can with logo, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Grab the Coca-Cola soda can, put it in the plastic basket, then raise the plastic basket.", + "Drop the small aluminum red drink can into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Grab the metallic red beverage can with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Place the red can with white Coca-Cola logo inside the basket with black handle, then lift the basket with black handle.", + "Pick up the red can with white lettering, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red can with white Coca-Cola logo, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to pick the Coca-Cola soda can, place it inside the bright yellow basket, then lift the bright yellow basket.", + "Use the right arm to grab the Coca-Cola soda can, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick up the red can with smooth metallic texture using the right arm, drop it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Hold the Coca-Cola soda can using the right arm, place it in the basket with black handle, and lift the basket with black handle.", + "Pick up the red can with white Coca-Cola logo with the right arm, place into the plastic basket, the other arm raises the plastic basket.", + "Use the right arm to grab the red can with smooth metallic texture, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the right arm to grab the red can with white Coca-Cola logo, place it into the basket with arched black grip, and lift the basket with arched black grip using the other arm.", + "Pick the cylindrical red drink can with logo, set it in the yellow basket, then lift the yellow basket." + ], + "unseen": [ + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the red can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the red can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the red can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the red can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the small red soda can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick the small red soda can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..5b488756fa8660a55783d0b571f718d41f66ddd2 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red cylindrical can with silver top, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.", + "Use the right arm to take the red can with white Coca-Cola logo, drop it in the basket for carrying things, and lift the basket for carrying things.", + "Grab the metallic red beverage can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.", + "Pick up the metallic red beverage can with the right arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.", + "Use the right arm to grab the red can with smooth metallic texture, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.", + "Take the red cylindrical can with silver top, place it into the light brown oval basket, then lift the light brown oval basket.", + "Use the right arm to grab the cylindrical red drink can with logo, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.", + "Lift the red can with white lettering, place it inside the basket with handle, and elevate the basket with handle.", + "Lift the Coca-Cola soda can, set it in the basket with handle, and elevate the basket with handle.", + "Place the smooth red can with silver bottom in the basket for holding items and then use another arm to lift the basket for holding items.", + "Grab the cylindrical red drink can with logo with the right arm, put it into the basket with handle, and lift the basket with handle with the other arm.", + "Take the cylindrical red drink can with logo with the right arm, drop it into the brown basket, and lift the brown basket using another arm.", + "Use the right arm to grab the small aluminum red drink can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.", + "Take the red can with smooth metallic texture, set it into the brown basket, and raise the brown basket.", + "Lift the rounded red Coca-Cola soda container, drop it into the basket with handle, then carry the basket with handle.", + "Grab the red cylindrical can with silver top, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.", + "Take the red can with white Coca-Cola logo in the right arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.", + "Lift the red can with white lettering, place it in the basket for carrying things, and raise the basket for carrying things.", + "Pick up the red cylindrical can with silver top using the right arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.", + "Pick the small aluminum red drink can with the right arm, drop it in the woven basket, lift the woven basket with another arm.", + "Use the right arm for the metallic red beverage can, place the metallic red beverage can in the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Pick up the small aluminum red drink can, put it in the basket for holding items, and lift the basket for holding items.", + "Place the hand-sized red can for drinks in the basket with handle and then lift the basket with handle.", + "Pick the red can with white Coca-Cola logo, set it in the basket for holding items, and lift the basket for holding items upward.", + "Grab and drop the cylindrical red drink can with logo in the light brown oval basket, lift the light brown oval basket.", + "Use the right arm to pick the metallic red beverage can, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.", + "Grab the hand-sized red can for drinks, drop it into the basket with handle, and raise the basket with handle.", + "Drop the rounded red Coca-Cola soda container into the wooden basket with curved handle using the right arm, then lift the wooden basket with curved handle with another arm.", + "Grab the smooth red can with silver bottom, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.", + "Pick the red can with white lettering with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.", + "Pick the Coca-Cola can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the red can with smooth metallic texture, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.", + "Pick up the red can with white Coca-Cola logo, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Pick up the red can with smooth metallic texture, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.", + "Grab the metallic red beverage can, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.", + "Pick up the Coca-Cola can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.", + "Lift the red can with white lettering with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Pick up the smooth red can with silver bottom, put it into the woven basket, and lift the woven basket.", + "Place the Coca-Cola can inside the woven basket, then lift the woven basket.", + "Lift the red can with white Coca-Cola logo, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.", + "Grab the red can with white lettering, place it in the basket for carrying things, and lift the basket for carrying things upwards.", + "Grab the red cylindrical can with silver top, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.", + "Pick the red can with smooth metallic texture with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Use the same arm to grab the small aluminum red drink can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.", + "Grab the hand-sized red can for drinks using the right arm, drop the hand-sized red can for drinks into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.", + "Pick the Coca-Cola soda can using the right arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.", + "Use the right arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the basket for holding items, and lift the basket for holding items.", + "Use the right arm to grab the cylindrical red drink can with logo and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.", + "Take the metallic red beverage can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.", + "Hold the small aluminum red drink can using the right arm, place it in the basket for holding items, and lift the basket for holding items.", + "Lift the hand-sized red can for drinks, put it in the basket with handle, and carry the basket with handle afterward.", + "Use the right arm to take the smooth red can with silver bottom, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.", + "Grab the small aluminum red drink can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.", + "Pick up the hand-sized red can for drinks with the right arm, place into the light brown oval basket, the other arm raises the light brown oval basket.", + "Use the right arm to grab the red can with white lettering, put it into the basket with handle, and lift the basket with handle with another arm.", + "Take the small aluminum red drink can, place it into the brown basket, then lift the brown basket.", + "Use the right arm to grab the cylindrical red drink can with logo, place it in the brown basket, and lift the brown basket.", + "Lift the metallic red beverage can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.", + "Lift the rounded red Coca-Cola soda container, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.", + "Place the cylindrical red drink can with logo in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.", + "Grab the Coca-Cola soda can with the right arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.", + "Take the Coca-Cola soda can with the right arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.", + "Use the right arm to grab the smooth red can with silver bottom, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.", + "Take the rounded red Coca-Cola soda container, set it into the basket made of woven wood, and raise the basket made of woven wood.", + "Lift the red can with smooth metallic texture, drop it into the basket with handle, then carry the basket with handle.", + "Grab the smooth red can with silver bottom, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.", + "Take the cylindrical red drink can with logo in the right arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.", + "Lift the rounded red Coca-Cola soda container, place it in the basket with handle, and raise the basket with handle.", + "Pick up the red can with white Coca-Cola logo using the right arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.", + "Pick the smooth red can with silver bottom with the right arm, drop it in the basket with handle, lift the basket with handle with another arm.", + "Use the right arm for the red can with white lettering, place the red can with white lettering in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Pick up the hand-sized red can for drinks, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.", + "Place the cylindrical red drink can with logo in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.", + "Pick the Coca-Cola can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.", + "Grab and drop the metallic red beverage can in the brown basket, lift the brown basket.", + "Use the right arm to pick the cylindrical red drink can with logo, place it inside the basket for carrying things, then lift the basket for carrying things.", + "Grab the Coca-Cola soda can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.", + "Drop the metallic red beverage can into the brown basket with woven ridges using the right arm, then lift the brown basket with woven ridges with another arm.", + "Grab the metallic red beverage can, place it in the light brown oval basket, and then lift the light brown oval basket.", + "Pick the small aluminum red drink can with the right arm, set it in the basket for holding items, and lift the basket for holding items using another arm.", + "Pick the small aluminum red drink can, set it in the basket made of woven wood, then lift the basket made of woven wood.", + "Grab the red can with white lettering, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.", + "Pick up the rounded red Coca-Cola soda container, set it inside the basket made of woven wood, then lift the basket made of woven wood.", + "Pick up the rounded red Coca-Cola soda container, place it into the brown basket, then lift the brown basket.", + "Grab the small aluminum red drink can, set it into the basket made of woven wood, then raise the basket made of woven wood.", + "Pick up the small aluminum red drink can, place it in the brown basket, and then lift the brown basket.", + "Lift the small aluminum red drink can with the right arm, set it in the wooden basket with curved handle, and lift with another arm.", + "Pick up the metallic red beverage can, put it into the basket made of woven wood, and lift the basket made of woven wood.", + "Place the red cylindrical can with silver top inside the light brown oval basket, then lift the light brown oval basket.", + "Lift the red can with white Coca-Cola logo, place it in the basket for holding items, pick up the basket for holding items afterward.", + "Grab the red can with white lettering, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.", + "Grab the metallic red beverage can, put it in the brown basket, then raise the brown basket.", + "Pick the red can with smooth metallic texture with one arm, place it in the brown basket, and lift the brown basket using another arm.", + "Use the same arm to grab the smooth red can with silver bottom, place in the basket for holding items, and then lift the basket for holding items.", + "Grab the red can with white Coca-Cola logo using the right arm, drop the red can with white Coca-Cola logo into the basket for holding items and lift the basket for holding items.", + "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.", + "Use the right arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the wooden basket with curved handle, and lift the wooden basket with curved handle.", + "Use the right arm to grab the smooth red can with silver bottom and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.", + "Take the red can with white lettering and put it in the basket made of woven wood, then lift the basket made of woven wood.", + "Hold the red cylindrical can with silver top using the right arm, place it in the brown basket, and lift the brown basket." + ], + "unseen": [ + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the small red soda can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the small red soda can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the red can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the small red soda can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the red can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the red can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the small red soda can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the small red soda can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the red can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Grab the small red soda can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the small red soda can, put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the red can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.", + "Use the right arm to grab the red can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the small red soda can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the palm-sized red metal Coca-Cola can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Pick the small red soda can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the oval basket with medium storage space, and lift the basket.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.", + "Grab the small red soda can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.", + "Use the right arm to grab the small red soda can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the small red soda can, drop it into the basket with rounded edges, then lift the basket with rounded edges.", + "Pick up the red can, place it in the basket with rounded edges, then lift the basket with rounded edges.", + "Grab the small red soda can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick the palm-sized red metal Coca-Cola can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, place it into the medium basket with smooth texture, and lift the basket.", + "Use the right arm to pick up the small red soda can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the basket with rounded edges, and lift the basket with rounded edges.", + "Grab the small red soda can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.", + "Use the right arm to pick the red can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Pick up the red can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can and put it in the basket with rounded edges, then lift the basket with rounded edges.", + "Pick the red can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.", + "Use the right arm to pick the small red soda can, place it into the basket with rounded edges, and lift the basket.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.", + "Grab the small red soda can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.", + "Use the right arm to grab the red can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.", + "Grab the red can, put it in the basket with rounded edges, lift the basket with rounded edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..b855e45feceb5be93ba98a10349333a31f9e157a --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the metallic drink can with pull-tab, drop the metallic drink can with pull-tab into the plastic basket, and lift the plastic basket.", + "Pick the red green can, set it in the rectangular yellow basket, and lift the rectangular yellow basket upward.", + "Grab the soda can with lime illustration, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Use the right arm to grab the red green beverage can, place it in the yellow basket, and lift the yellow basket.", + "Drop the drink can with bright colors into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Use the right arm to grab the smooth cylindrical can with lime pattern, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick up the red green can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Grab and drop the colorful can with lime and orange design in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle.", + "Lift the drink can with bright colors, drop it into the basket with perforated sides, then carry the basket with perforated sides.", + "Grab the green red metallic soda can, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Grab the beverage can with red green graphics, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Take the green red metallic soda can and put it in the plastic basket, then lift the plastic basket.", + "Pick up the soda can with lime illustration with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Grab the colorful can with lime and orange design, place it in the handheld basket, and raise the handheld basket using the other arm.", + "Take the red green beverage can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the drink can with bright colors using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick the red green beverage can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the soda can with lime illustration with the right arm, set it in the plastic basket, and lift the plastic basket using another arm.", + "Place the metal can with pull-tab top in the handheld basket and then use another arm to lift the handheld basket.", + "Use the right arm to grab the small soda can with lime graphics and place in the plastic basket, lift the plastic basket with another arm.", + "Lift the soda can with lime illustration, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Lift the colorful can with lime and orange design, place it inside the basket with black handle, and elevate the basket with black handle.", + "Grab the colorful can with lime and orange design, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Use the right arm to pick the red green beverage can, place it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the smooth cylindrical can with lime pattern, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Lift the can with red green label, place it in the basket with arched black grip, and raise the basket with arched black grip.", + "Pick up the green red metallic soda can using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the handheld basket, and lift the handheld basket.", + "Pick the red green beverage can with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Pick the beverage can with red green graphics with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Lift the red green beverage can, put it in the rectangular yellow basket, and carry the rectangular yellow basket afterward.", + "Grab the metallic drink can with pull-tab, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Take the small soda can with lime graphics with the right arm, drop it into the plastic basket, and lift the plastic basket using another arm.", + "Grab the beverage can with red green graphics with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Grab the can with red green label, put it in the yellow basket, then raise the yellow basket.", + "Pick up the green red metallic soda can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the green red metallic soda can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Lift the can with red green label, set it in the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the metal can with pull-tab top with the right arm, set it in the basket with black handle, and lift with another arm.", + "Use the right arm to take the green red metallic soda can, drop it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the colorful can with lime and orange design, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Hold the drink can with bright colors using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick up the red green beverage can, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the red green beverage can in the medium yellow basket with slots and then lift the medium yellow basket with slots.", + "Pick up the soda can with lime illustration, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the metal can with pull-tab top inside the handheld basket, then lift the handheld basket.", + "Take the small soda can with lime graphics, set it into the plastic basket, and raise the plastic basket.", + "Use the same arm to grab the red green can, place in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Take the beverage can with red green graphics in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Use the right arm to hold the metal can with pull-tab top, drop the metal can with pull-tab top into the basket with arched black grip, and lift the basket with arched black grip.", + "Pick the can with red green label, set it in the bright yellow basket, and lift the bright yellow basket upward.", + "Grab the metallic drink can with pull-tab, drop it into the yellow basket, then use another arm for the yellow basket.", + "Use the right arm to grab the metallic drink can with pull-tab, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Drop the red green beverage can into the yellow basket using the right arm, then lift the yellow basket with another arm.", + "Use the right arm to grab the small soda can with lime graphics, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Pick up the beverage can with red green graphics, set it inside the bright yellow basket, then lift the bright yellow basket.", + "Grab and drop the beverage can with red green graphics in the basket with black handle, lift the basket with black handle.", + "Lift the red green can, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Grab the red green can, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Grab the metallic drink can with pull-tab, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the green red metallic soda can and put it in the yellow basket, then lift the yellow basket.", + "Pick up the red green can with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.", + "Grab the drink can with bright colors, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Take the metal can with pull-tab top, place it into the basket with black handle, then lift the basket with black handle.", + "Pick the colorful can with lime and orange design using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the colorful can with lime and orange design, set it in the handheld basket, then lift the handheld basket.", + "Pick the smooth cylindrical can with lime pattern with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Place the can with red green label in the bright yellow basket and then use another arm to lift the bright yellow basket.", + "Use the right arm to grab the colorful can with lime and orange design and place in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Lift the soda can with lime illustration, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Lift the beverage can with red green graphics, place it inside the basket with perforated sides, and elevate the basket with perforated sides.", + "Grab the colorful can with lime and orange design, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.", + "Use the right arm to pick the soda can with lime illustration, place it inside the handheld basket, then lift the handheld basket.", + "Pick up the metallic drink can with pull-tab, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Grab the green red metallic soda can using the right arm, drop the green red metallic soda can into the yellow basket for carrying stuff and lift the yellow basket for carrying stuff.", + "Lift the metallic drink can with pull-tab, place it in the basket with black handle, and raise the basket with black handle.", + "Pick up the red green can using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Use the right arm for the beverage can with red green graphics, place the beverage can with red green graphics in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Pick the smooth cylindrical can with lime pattern with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Pick the red green can with one arm, place it in the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Lift the drink can with bright colors, put it in the plastic basket, and carry the plastic basket afterward.", + "Grab the metal can with pull-tab top, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Take the drink can with bright colors with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the soda can with lime illustration with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Grab the smooth cylindrical can with lime pattern, put it in the plastic basket, then raise the plastic basket.", + "Pick up the metal can with pull-tab top, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the red green beverage can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the metal can with pull-tab top, set it in the yellow basket, and elevate the yellow basket.", + "Lift the can with red green label with the right arm, set it in the medium yellow basket with slots, and lift with another arm.", + "Use the right arm to take the green red metallic soda can, drop it in the yellow basket, and lift the yellow basket.", + "Grab the can with red green label, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Hold the soda can with lime illustration using the right arm, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Pick up the metal can with pull-tab top, put it in the bright yellow basket, and lift the bright yellow basket.", + "Place the metal can with pull-tab top in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Pick up the can with red green label, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Place the metal can with pull-tab top inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Take the smooth cylindrical can with lime pattern, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the same arm to grab the green red metallic soda can, place in the plastic basket, and then lift the plastic basket.", + "Take the can with red green label in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket." + ], + "unseen": [ + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow basket with open slots, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with bright colors, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with bright colors, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the hand-sized can with metallic finish, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the cylindrical can with bright colors, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the hand-sized can with metallic finish and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the hand-sized can with metallic finish, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical can with bright colors, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the hand-sized can with metallic finish, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the hand-sized can with metallic finish, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the hand-sized can with metallic finish, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the hand-sized can with metallic finish and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical can with bright colors, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the hand-sized can with metallic finish, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the cylindrical can with bright colors, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with bright colors, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Pick the cylindrical can with smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical can with bright colors, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical can with smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the hand-sized can with metallic finish, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical can with smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick up the cylindrical can with bright colors, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the cylindrical can with smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical can with smooth surface, place it into the yellow basket with open slots, and lift the basket." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..da02b18771128a5c1e0f9d9f5ae4ef80e5d7f660 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the metal can with white decorative designs using the right arm, place it in the yellow basket, and lift the yellow basket.", + "Pick the small cylindrical drink container, set it in the handheld basket, then lift the handheld basket.", + "Use the right arm to take the white patterned brown metal can, drop it in the handheld basket, and lift the handheld basket.", + "Use the right arm to grab the small cylindrical drink container, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Lift the metal can with white decorative designs, place it in the rectangular basket with smooth surface, pick up the rectangular basket with smooth surface afterward.", + "Use the right arm to grab the metal can with white decorative designs, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Lift the white patterned brown metal can, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Grab the smooth light brown can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Pick up the smooth brown can with rounded edges, put it in the basket with black handle, and lift the basket with black handle.", + "Grab and drop the brown can in the basket with perforated sides, lift the basket with perforated sides.", + "Grab the rounded metallic can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.", + "Grab the white patterned brown metal can, put it in the bright yellow basket, then raise the bright yellow basket.", + "Lift the metal can with printed white graphics, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.", + "Lift the metal can with white decorative designs with the right arm, set it in the basket with perforated sides, and lift with another arm.", + "Grab the hand-sized metallic can using the right arm, drop the hand-sized metallic can into the basket with black handle and lift the basket with black handle.", + "Pick the small light brown cylindrical can using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Lift the white patterned brown metal can, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Lift the metal can with printed white graphics, place it in the basket with perforated sides, and raise the basket with perforated sides.", + "Pick the hand-sized metallic can with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Place the hand-sized metallic can in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Lift the brown can, place it inside the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the metal can with white decorative designs with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Use the right arm to hold the metal can with white decorative designs, drop the metal can with white decorative designs into the basket with arched black grip, and lift the basket with arched black grip.", + "Use the right arm for the metal can with white decorative designs, place the metal can with white decorative designs in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Drop the smooth light brown can into the carrying basket with black plastic handle using the right arm, then lift the carrying basket with black plastic handle with another arm.", + "Pick the brown can with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the drink can with light brown shade with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Pick up the smooth light brown can, place it in the handheld basket, and then lift the handheld basket.", + "Pick up the metal can with printed white graphics, set it inside the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the same arm to grab the drink can with light brown shade, place in the basket with arched black grip, and then lift the basket with arched black grip.", + "Grab the metal can with white decorative designs with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to pick the light brown can with smooth texture, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick the drink can with light brown shade with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Pick up the drink can with light brown shade using the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.", + "Pick up the hand-sized metallic can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the rounded metallic can and put it in the rectangular yellow basket, then lift the rectangular yellow basket.", + "Pick up the smooth light brown can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Grab the metal can with printed white graphics, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Place the white patterned brown metal can in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Take the small light brown cylindrical can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Grab the light brown can with smooth texture, drop it into the basket with black handle, and raise the basket with black handle with the other arm.", + "Take the brown can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.", + "Use the right arm to grab the smooth light brown can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Pick the rounded metallic can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Take the drink can with light brown shade, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to grab the metal can with white decorative designs, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.", + "Grab the metal can with white decorative designs, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the light brown can with smooth texture, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Grab the light brown can with smooth texture, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Place the smooth brown can with rounded edges inside the basket with perforated sides, then lift the basket with perforated sides.", + "Hold the smooth brown can with rounded edges using the right arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Pick the white patterned brown metal can, set it in the plastic basket, then lift the plastic basket.", + "Use the right arm to take the brown can, drop it in the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the metal can with printed white graphics, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the rounded metallic can, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Use the right arm to grab the rounded metallic can, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the metal can with printed white graphics, set it in the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.", + "Grab the brown can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.", + "Pick up the metal can with printed white graphics, put it in the handheld basket, and lift the handheld basket.", + "Grab and drop the white patterned brown metal can in the handheld basket, lift the handheld basket.", + "Grab the metal can with white decorative designs, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.", + "Grab the rounded metallic can, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Lift the metal can with printed white graphics, drop it into the basket with black handle, then carry the basket with black handle.", + "Lift the small cylindrical drink container with the right arm, set it in the bright yellow basket, and lift with another arm.", + "Grab the light brown can with smooth texture using the right arm, drop the light brown can with smooth texture into the plastic basket and lift the plastic basket.", + "Pick the white patterned brown metal can using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.", + "Lift the brown can, put it in the bright yellow basket, and carry the bright yellow basket afterward.", + "Lift the small light brown cylindrical can, place it in the plastic basket, and raise the plastic basket.", + "Pick the metal can with white decorative designs with the right arm, drop it in the basket with perforated sides, lift the basket with perforated sides with another arm.", + "Place the smooth brown can with rounded edges in the yellow basket and then use another arm to lift the yellow basket.", + "Lift the rounded metallic can, place it inside the basket with black handle, and elevate the basket with black handle.", + "Take the brown can with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Use the right arm to hold the hand-sized metallic can, drop the hand-sized metallic can into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Use the right arm for the smooth brown can with rounded edges, place the smooth brown can with rounded edges in the plastic basket, and lift the plastic basket.", + "Drop the drink can with light brown shade into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick the hand-sized metallic can with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Pick up the metal can with white decorative designs with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.", + "Pick up the brown can, place it in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Pick up the metal can with printed white graphics, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the same arm to grab the brown can, place in the basket with perforated sides, and then lift the basket with perforated sides.", + "Grab the small light brown cylindrical can with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to pick the drink can with light brown shade, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the hand-sized metallic can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm.", + "Pick up the metal can with white decorative designs using the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Pick up the brown can, put it into the basket with black handle, and lift the basket with black handle.", + "Take the smooth light brown can and put it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick up the metal can with printed white graphics, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Grab the drink can with light brown shade, drop it into the basket with arched black grip, and raise the basket with arched black grip.", + "Place the small cylindrical drink container in the handheld basket and then lift the handheld basket.", + "Take the white patterned brown metal can, set it into the basket with black handle, and raise the basket with black handle.", + "Grab the white patterned brown metal can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Take the small cylindrical drink container in the right arm, place it into the plastic basket, another arm lifts the plastic basket.", + "Use the right arm to grab the hand-sized metallic can and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Pick the small cylindrical drink container, set it in the handheld basket, and lift the handheld basket upward.", + "Take the hand-sized metallic can, place it into the handheld basket, then lift the handheld basket.", + "Use the right arm to grab the small light brown cylindrical can, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Grab the metal can with white decorative designs, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Grab the smooth brown can with rounded edges, set it into the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.", + "Grab the rounded metallic can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Place the metal can with printed white graphics inside the yellow basket, then lift the yellow basket." + ], + "unseen": [ + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the yellow basket with open slots, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the rounded can with smooth printed surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the cylindrical brown drink can with white markings, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the rounded can with smooth printed surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the cylindrical brown drink can with white markings, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the cylindrical brown drink can with white markings, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the light brown cylindrical can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the light brown cylindrical can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the cylindrical brown drink can with white markings, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the cylindrical brown drink can with white markings, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the light brown cylindrical can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the rounded can with smooth printed surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the rounded can with smooth printed surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the rounded can with smooth printed surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the light brown cylindrical can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the cylindrical brown drink can with white markings and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the rounded can with smooth printed surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the cylindrical brown drink can with white markings, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Use the right arm to grab the cylindrical brown drink can with white markings, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the light brown cylindrical can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick the light brown cylindrical can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the rounded can with smooth printed surface, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the light brown cylindrical can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the light brown cylindrical can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the rounded can with smooth printed surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the light brown cylindrical can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the light brown cylindrical can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick the rounded can with smooth printed surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the light brown cylindrical can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Use the right arm to pick the rounded can with smooth printed surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the cylindrical brown drink can with white markings, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..454b6d05b99c4714064d4cbc33164148bdc1c25a --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red cylindrical can with silver top using the right arm, drop the red cylindrical can with silver top into the basket with black handle and lift the basket with black handle.", + "Grab the Coca-Cola can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Use the right arm to hold the hand-sized red can for drinks, drop the hand-sized red can for drinks into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Grab the red can with white lettering, put it in the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Lift the red cylindrical can with silver top, drop it into the carrying basket with black plastic handle, then carry the carrying basket with black plastic handle.", + "Grab the small aluminum red drink can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.", + "Take the smooth red can with silver bottom with the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Place the rounded red Coca-Cola soda container in the rectangular basket with smooth surface and then use another arm to lift the rectangular basket with smooth surface.", + "Take the Coca-Cola can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.", + "Pick up the red can with white Coca-Cola logo, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Use the right arm for the red can with smooth metallic texture, place the red can with smooth metallic texture in the handheld basket, and lift the handheld basket.", + "Grab the red can with white Coca-Cola logo, set it into the basket with black handle, then raise the basket with black handle.", + "Pick up the smooth red can with silver bottom with the right arm, place into the basket with perforated sides, the other arm raises the basket with perforated sides.", + "Pick up the red can with white lettering, put it into the yellow basket, and lift the yellow basket.", + "Use the right arm to grab the rounded red Coca-Cola soda container, place it in the yellow basket, and lift the yellow basket.", + "Place the small aluminum red drink can inside the plastic basket, then lift the plastic basket.", + "Lift the metallic red beverage can, put it in the plastic basket, and carry the plastic basket afterward.", + "Lift the small aluminum red drink can, set it in the handheld basket, and elevate the handheld basket.", + "Take the red can with white Coca-Cola logo, set it into the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick up the red cylindrical can with silver top, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to pick the small aluminum red drink can, place it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Pick up the red cylindrical can with silver top, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Pick the red can with smooth metallic texture, set it in the handheld basket, then lift the handheld basket.", + "Take the cylindrical red drink can with logo, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Grab the rounded red Coca-Cola soda container, drop it into the yellow basket, and raise the yellow basket.", + "Pick up the rounded red Coca-Cola soda container, set it inside the yellow basket, then lift the yellow basket.", + "Grab the red can with smooth metallic texture, place it in the bright yellow basket, and lift the bright yellow basket upwards.", + "Drop the Coca-Cola can into the basket with arched black grip using the right arm, then lift the basket with arched black grip with another arm.", + "Use the right arm to grab the red can with white lettering, put it into the handheld basket, and lift the handheld basket with another arm.", + "Use the same arm to grab the red cylindrical can with silver top, place in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Lift the red can with white lettering, place it inside the plastic basket, and elevate the plastic basket.", + "Lift the metallic red beverage can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Lift the rounded red Coca-Cola soda container, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the red cylindrical can with silver top and place in the plastic basket, lift the plastic basket with another arm.", + "Place the red can with white Coca-Cola logo in the plastic basket and then lift the plastic basket.", + "Grab the Coca-Cola soda can, drop it into the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff with the other arm.", + "Grab and drop the Coca-Cola can in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.", + "Pick up the cylindrical red drink can with logo using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the Coca-Cola soda can with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Grab the metallic red beverage can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick the cylindrical red drink can with logo with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.", + "Hold the Coca-Cola can using the right arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the Coca-Cola can, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Pick the red can with white Coca-Cola logo with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.", + "Use the right arm to grab the small aluminum red drink can, place it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using the other arm.", + "Use the right arm to take the Coca-Cola soda can, drop it in the basket with perforated sides, and lift the basket with perforated sides.", + "Take the cylindrical red drink can with logo and put it in the basket with arched black grip, then lift the basket with arched black grip.", + "Pick the Coca-Cola can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the small aluminum red drink can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Grab the Coca-Cola soda can, place it in the yellow basket, and raise the yellow basket using the other arm.", + "Grab the Coca-Cola can using the right arm, drop the Coca-Cola can into the basket with perforated sides and lift the basket with perforated sides.", + "Grab the hand-sized red can for drinks with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.", + "Use the right arm to hold the cylindrical red drink can with logo, drop the cylindrical red drink can with logo into the basket with black handle, and lift the basket with black handle.", + "Grab the cylindrical red drink can with logo, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.", + "Lift the red can with smooth metallic texture, drop it into the basket with arched black grip, then carry the basket with arched black grip.", + "Grab the metallic red beverage can, drop it into the yellow basket, then use another arm for the yellow basket.", + "Take the Coca-Cola soda can with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.", + "Place the red can with white Coca-Cola logo in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Take the metallic red beverage can in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Pick up the Coca-Cola soda can, put it in the basket with perforated sides, and lift the basket with perforated sides.", + "Use the right arm for the Coca-Cola soda can, place the Coca-Cola soda can in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the metallic red beverage can, set it into the bright yellow basket, then raise the bright yellow basket.", + "Pick up the metallic red beverage can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Pick up the small aluminum red drink can, put it into the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the small aluminum red drink can, place it in the basket with perforated sides, and lift the basket with perforated sides.", + "Place the red can with smooth metallic texture inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Lift the red can with smooth metallic texture, put it in the yellow basket for carrying stuff, and carry the yellow basket for carrying stuff afterward.", + "Lift the Coca-Cola soda can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.", + "Take the rounded red Coca-Cola soda container, set it into the yellow basket, and raise the yellow basket.", + "Pick up the Coca-Cola can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the right arm to pick the metallic red beverage can, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick up the red can with smooth metallic texture, place it in the bright yellow basket, and then lift the bright yellow basket.", + "Pick the red can with white Coca-Cola logo, set it in the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Take the Coca-Cola can, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the cylindrical red drink can with logo, drop it into the basket with perforated sides, and raise the basket with perforated sides.", + "Pick up the red can with white lettering, set it inside the basket with black handle, then lift the basket with black handle.", + "Grab the red can with smooth metallic texture, place it in the plastic basket, and lift the plastic basket upwards.", + "Drop the metallic red beverage can into the rectangular basket with smooth surface using the right arm, then lift the rectangular basket with smooth surface with another arm.", + "Use the right arm to grab the rounded red Coca-Cola soda container, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with another arm.", + "Use the same arm to grab the smooth red can with silver bottom, place in the rectangular yellow basket, and then lift the rectangular yellow basket.", + "Lift the red can with white Coca-Cola logo, place it inside the basket with arched black grip, and elevate the basket with arched black grip.", + "Lift the red cylindrical can with silver top with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Lift the Coca-Cola can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Use the right arm to grab the small aluminum red drink can and place in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Place the cylindrical red drink can with logo in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.", + "Grab the red can with white lettering, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Grab and drop the red can with white Coca-Cola logo in the basket with arched black grip, lift the basket with arched black grip.", + "Pick up the hand-sized red can for drinks using the right arm, drop it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the Coca-Cola soda can with the right arm, set it in the basket with perforated sides, and lift the basket with perforated sides using another arm.", + "Grab the red can with smooth metallic texture, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick the cylindrical red drink can with logo with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.", + "Hold the red can with white Coca-Cola logo using the right arm, place it in the bright yellow basket, and lift the bright yellow basket.", + "Pick the smooth red can with silver bottom, set it in the handheld basket, and lift the handheld basket upward.", + "Pick the Coca-Cola soda can with one arm, place it in the yellow basket, and lift the yellow basket using another arm.", + "Use the right arm to grab the Coca-Cola can, place it into the rectangular yellow basket, and lift the rectangular yellow basket using the other arm.", + "Use the right arm to take the cylindrical red drink can with logo, drop it in the basket with black handle, and lift the basket with black handle.", + "Take the Coca-Cola can and put it in the basket with black handle, then lift the basket with black handle.", + "Pick the red cylindrical can with silver top using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Lift the hand-sized red can for drinks, place it in the medium yellow basket with slots, pick up the medium yellow basket with slots afterward.", + "Grab the Coca-Cola soda can, place it in the basket with black handle, and raise the basket with black handle using the other arm." + ], + "unseen": [ + "Use the right arm to grab the red can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the red can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to pick up the red can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the red can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the red can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the small red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the red can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the small red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the small red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the small red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Pick up the small red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the red can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the red can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the red can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the small red soda can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the palm-sized red metal Coca-Cola can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to grab the small red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the red can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the small red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the palm-sized red metal Coca-Cola can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the small red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the red can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the palm-sized red metal Coca-Cola can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to pick up the palm-sized red metal Coca-Cola can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the red can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the palm-sized red metal Coca-Cola can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the red can, place it into the yellow basket with open slots, and lift the basket.", + "Use the right arm to pick the small red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Pick up the red can, place it in the yellow basket with open slots, then lift the yellow basket with open slots." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..410ef2deb320a07e4997976dae0bc57283e5d230 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beverage can with printed label, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.", + "Pick up the red-orange text on white can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Hold the can with gold top lid using the right arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the can with gold top lid with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Pick the small white can with branding, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upward.", + "Take the can with sealed gold top, place it into the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Use the right arm to hold the white can, drop the white can into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Place the medium metal can inside the yellow basket, then lift the yellow basket.", + "Place the small white can with branding in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the right arm to grab the cylindrical white glossy can, place it in the basket with black handle, and lift the basket with black handle.", + "Grab the smooth white can with accents using the right arm, drop the smooth white can with accents into the carrying basket with black plastic handle and lift the carrying basket with black plastic handle.", + "Drop the cylindrical white glossy can into the yellow basket for carrying stuff using the right arm, then lift the yellow basket for carrying stuff with another arm.", + "Grab and drop the beverage can with printed label in the bright yellow basket, lift the bright yellow basket.", + "Take the can with rounded cylindrical shape, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Use the right arm to grab the can with sealed gold top, put it into the basket with arched black grip, and lift the basket with arched black grip with another arm.", + "Pick up the white can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Use the right arm for the cylindrical white glossy can, place the cylindrical white glossy can in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the can with red-orange text, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the cylindrical white glossy can, place it in the plastic basket, pick up the plastic basket afterward.", + "Pick the beverage can with printed label with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Grab the smooth white can with accents, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.", + "Pick up the white can with 3D RADY label, put it in the plastic basket, and lift the plastic basket.", + "Take the red-orange text on white can and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.", + "Grab the white can, put it in the yellow basket, then raise the yellow basket.", + "Grab the cylindrical white glossy can, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the cylindrical white glossy can with one arm, place it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.", + "Pick up the cylindrical white glossy can, set it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Use the right arm to grab the can with rounded cylindrical shape and place in the handheld basket, lift the handheld basket with another arm.", + "Use the same arm to grab the cylindrical white glossy can, place in the medium yellow basket with slots, and then lift the medium yellow basket with slots.", + "Use the right arm to grab the medium metal can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Grab the can with red-orange text, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.", + "Take the cylindrical white glossy can in the right arm, place it into the basket with perforated sides, another arm lifts the basket with perforated sides.", + "Use the right arm to take the white can with 3D RADY label, drop it in the yellow basket, and lift the yellow basket.", + "Lift the red-orange text on white can, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.", + "Use the right arm to pick the can with red-orange text, place it inside the basket with black handle, then lift the basket with black handle.", + "Pick up the can with rounded cylindrical shape using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the can with sealed gold top, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Grab the small white can with branding with the right arm, put it into the handheld basket, and lift the handheld basket with the other arm.", + "Pick the beverage can with printed label with the right arm, drop it in the plastic basket, lift the plastic basket with another arm.", + "Lift the can with sealed gold top, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the red-orange text on white can, put it into the rectangular yellow basket, and lift the rectangular yellow basket.", + "Lift the can with red-orange text, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.", + "Pick the can with rounded cylindrical shape, set it in the plastic basket, then lift the plastic basket.", + "Lift the white can, place it inside the handheld basket, and elevate the handheld basket.", + "Place the can with sealed gold top in the basket with black handle and then lift the basket with black handle.", + "Grab the white can with 3D RADY label, set it into the rectangular yellow basket, then raise the rectangular yellow basket.", + "Lift the white can with the right arm, set it in the plastic basket, and lift with another arm.", + "Lift the can with red-orange text, set it in the plastic basket, and elevate the plastic basket.", + "Pick the can with red-orange text using the right arm, drop it in the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Grab the white can with 3D RADY label, place it in the rectangular basket with smooth surface, and then lift the rectangular basket with smooth surface.", + "Grab the smooth white can with accents, place it in the basket with black handle, and lift the basket with black handle upwards.", + "Pick up the beverage can with printed label, place it into the yellow basket, then lift the yellow basket.", + "Hold the cylindrical white glossy can using the right arm, place it in the plastic basket, and lift the plastic basket.", + "Take the smooth white can with accents with the right arm, drop it into the yellow basket, and lift the yellow basket using another arm.", + "Pick the cylindrical white glossy can, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.", + "Take the red-orange text on white can, place it into the yellow basket, then lift the yellow basket.", + "Use the right arm to hold the medium metal can, drop the medium metal can into the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Place the can with sealed gold top inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Place the medium metal can in the basket with black handle and then use another arm to lift the basket with black handle.", + "Use the right arm to grab the can with rounded cylindrical shape, place it in the plastic basket, and lift the plastic basket.", + "Grab the beverage can with printed label using the right arm, drop the beverage can with printed label into the rectangular yellow basket and lift the rectangular yellow basket.", + "Drop the medium metal can into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Grab and drop the cylindrical white glossy can in the plastic basket, lift the plastic basket.", + "Take the smooth white can with accents, set it into the handheld basket, and raise the handheld basket.", + "Use the right arm to grab the white can with 3D RADY label, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.", + "Pick up the cylindrical white glossy can with the right arm, place into the bright yellow basket, the other arm raises the bright yellow basket.", + "Use the right arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the basket with perforated sides, and lift the basket with perforated sides.", + "Grab the white can with 3D RADY label, drop it into the basket with arched black grip, then use another arm for the basket with arched black grip.", + "Lift the can with red-orange text, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.", + "Pick the can with gold top lid with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab the smooth white can with accents, drop it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface with the other arm.", + "Pick up the can with sealed gold top, put it in the rectangular yellow basket, and lift the rectangular yellow basket.", + "Take the red-orange text on white can and put it in the basket with black handle, then lift the basket with black handle.", + "Grab the can with rounded cylindrical shape, put it in the bright yellow basket, then raise the bright yellow basket.", + "Grab the can with red-orange text, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Pick the can with sealed gold top with one arm, place it in the bright yellow basket, and lift the bright yellow basket using another arm.", + "Pick up the red-orange text on white can, set it inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Use the right arm to grab the can with gold top lid and place in the basket with black handle, lift the basket with black handle with another arm.", + "Use the same arm to grab the white can with 3D RADY label, place in the plastic basket, and then lift the plastic basket.", + "Use the right arm to grab the cylindrical white glossy can, place it into the basket with black handle, and lift the basket with black handle using the other arm.", + "Grab the beverage can with printed label, place it in the bright yellow basket, and raise the bright yellow basket using the other arm.", + "Take the white can in the right arm, place it into the basket with black handle, another arm lifts the basket with black handle.", + "Use the right arm to take the cylindrical white glossy can, drop it in the plastic basket, and lift the plastic basket.", + "Lift the white can, put it in the plastic basket, and carry the plastic basket afterward.", + "Use the right arm to pick the can with red-orange text, place it inside the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the can with red-orange text using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick up the can with red-orange text, place it in the plastic basket, and then lift the plastic basket.", + "Grab the can with sealed gold top with the right arm, put it into the basket with black handle, and lift the basket with black handle with the other arm.", + "Pick the medium metal can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Lift the can with sealed gold top, drop it into the plastic basket, then carry the plastic basket.", + "Pick up the can with gold top lid, put it into the basket with black handle, and lift the basket with black handle.", + "Lift the can with sealed gold top, place it in the rectangular yellow basket, and raise the rectangular yellow basket.", + "Pick the can with red-orange text, set it in the yellow basket, then lift the yellow basket.", + "Lift the beverage can with printed label, place it inside the plastic basket, and elevate the plastic basket.", + "Place the smooth white can with accents in the basket with perforated sides and then lift the basket with perforated sides.", + "Grab the can with rounded cylindrical shape, set it into the rectangular basket with smooth surface, then raise the rectangular basket with smooth surface.", + "Lift the white can with 3D RADY label with the right arm, set it in the handheld basket, and lift with another arm.", + "Lift the can with rounded cylindrical shape, set it in the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.", + "Pick the white can using the right arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Grab the medium metal can, place it in the yellow basket, and then lift the yellow basket." + ], + "unseen": [ + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the lightweight cylindrical metal can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the can with shiny smooth surface, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with shiny smooth surface, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with shiny smooth surface, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the metal can fits easily in hand, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the metal can fits easily in hand, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Pick the metal can fits easily in hand, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the metal can fits easily in hand, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Pick the can with shiny smooth surface, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the lightweight cylindrical metal can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the lightweight cylindrical metal can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the metal can fits easily in hand, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the lightweight cylindrical metal can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the lightweight cylindrical metal can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the metal can fits easily in hand, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with shiny smooth surface, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the metal can fits easily in hand, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Pick up the can with shiny smooth surface, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the metal can fits easily in hand, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Grab the metal can fits easily in hand and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to grab the can with shiny smooth surface, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the can with shiny smooth surface, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with shiny smooth surface, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Pick up the metal can fits easily in hand, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the lightweight cylindrical metal can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with shiny smooth surface, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Grab the can with shiny smooth surface and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to grab the lightweight cylindrical metal can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the lightweight cylindrical metal can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with shiny smooth surface, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Grab the lightweight cylindrical metal can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Pick the lightweight cylindrical metal can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..01c16f93ac26a42e875440451d303854ce7aac87 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and drop the gold patterned beverage can in the plastic basket, lift the plastic basket.", + "Pick up the smooth red soda can, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.", + "Grab the compact metal drink can, drop it into the rectangular basket with smooth surface, then use another arm for the rectangular basket with smooth surface.", + "Take the bright red drink container can in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.", + "Grab the gold-decorated aluminum can, place it in the basket with arched black grip, and then lift the basket with arched black grip.", + "Pick up the red can, put it into the basket with arched black grip, and lift the basket with arched black grip.", + "Grab the gold patterned beverage can, drop it into the yellow basket, and raise the yellow basket with the other arm.", + "Use the right arm for the compact metal drink can, place the compact metal drink can in the bright yellow basket, and lift the bright yellow basket.", + "Use the right arm to grab the smooth red soda can and place in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff with another arm.", + "Pick up the red can with gold illustrations, put it in the medium yellow basket with slots, and lift the medium yellow basket with slots.", + "Grab the metallic can with rounded edges with the right arm, put it into the basket with perforated sides, and lift the basket with perforated sides with the other arm.", + "Pick up the bright red drink container can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.", + "Use the same arm to grab the palm-sized drink can, place in the handheld basket, and then lift the handheld basket.", + "Place the gold patterned beverage can in the basket with perforated sides and then use another arm to lift the basket with perforated sides.", + "Drop the red can with gold illustrations into the medium yellow basket with slots using the right arm, then lift the medium yellow basket with slots with another arm.", + "Pick the metallic soda can, set it in the basket with arched black grip, then lift the basket with arched black grip.", + "Use the right arm to hold the red beverage can with curved top, drop the red beverage can with curved top into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Pick the metallic soda can using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.", + "Use the right arm to grab the smooth red soda can, place it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Use the right arm to pick the red beverage can with curved top, place it inside the basket with perforated sides, then lift the basket with perforated sides.", + "Pick the red can with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.", + "Grab the metallic soda can, place it in the basket with black handle, and raise the basket with black handle using the other arm.", + "Lift the bright red drink container can, place it inside the bright yellow basket, and elevate the bright yellow basket.", + "Take the red and gold cylindrical can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.", + "Lift the red can with gold illustrations, place it in the plastic basket, pick up the plastic basket afterward.", + "Grab the red can with gold illustrations, place it in the yellow basket, and lift the yellow basket upwards.", + "Hold the red can using the right arm, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the red can, put it in the basket with black handle, and carry the basket with black handle afterward.", + "Grab the gold-decorated aluminum can, drop it into the bright yellow basket, and raise the bright yellow basket.", + "Lift the gold-decorated aluminum can, set it in the bright yellow basket, and elevate the bright yellow basket.", + "Take the compact metal drink can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the red can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.", + "Place the red beverage can with curved top inside the basket with black handle, then lift the basket with black handle.", + "Grab the metallic soda can, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.", + "Take the red can with gold illustrations and put it in the plastic basket, then lift the plastic basket.", + "Place the red can in the yellow basket and then lift the yellow basket.", + "Use the right arm to grab the gold patterned beverage can, place it into the medium yellow basket with slots, and lift the medium yellow basket with slots using the other arm.", + "Lift the gold-decorated aluminum can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.", + "Take the metallic soda can, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Pick the red can with one arm, place it in the plastic basket, and lift the plastic basket using another arm.", + "Use the right arm to take the metallic soda can, drop it in the basket with black handle, and lift the basket with black handle.", + "Lift the red beverage can with curved top, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.", + "Use the right arm to grab the metallic soda can, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with another arm.", + "Pick up the gold-decorated aluminum can, place it into the basket with black handle, then lift the basket with black handle.", + "Pick up the compact metal drink can using the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.", + "Pick the metallic soda can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.", + "Lift the metallic can with rounded edges with the right arm, set it in the carrying basket with black plastic handle, and lift with another arm.", + "Grab the metallic can with rounded edges, put it in the rectangular yellow basket, then raise the rectangular yellow basket.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the rectangular yellow basket and lift the rectangular yellow basket.", + "Pick the palm-sized drink can with the right arm, set it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.", + "Grab and drop the bright red drink container can in the yellow basket for carrying stuff, lift the yellow basket for carrying stuff.", + "Pick up the gold-decorated aluminum can, place it in the basket with black handle, and then lift the basket with black handle.", + "Grab the gold-decorated aluminum can, drop it into the basket with black handle, then use another arm for the basket with black handle.", + "Take the red beverage can with curved top in the right arm, place it into the carrying basket with black plastic handle, another arm lifts the carrying basket with black plastic handle.", + "Grab the red beverage can with curved top, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.", + "Pick up the metallic can with rounded edges, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Grab the smooth red soda can, drop it into the bright yellow basket, and raise the bright yellow basket with the other arm.", + "Use the right arm for the gold-decorated aluminum can, place the gold-decorated aluminum can in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.", + "Use the right arm to grab the gold-decorated aluminum can and place in the basket with arched black grip, lift the basket with arched black grip with another arm.", + "Pick up the metallic soda can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.", + "Grab the gold patterned beverage can with the right arm, put it into the bright yellow basket, and lift the bright yellow basket with the other arm.", + "Pick up the compact metal drink can, set it inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.", + "Use the same arm to grab the red beverage can with curved top, place in the plastic basket, and then lift the plastic basket.", + "Place the bright red drink container can in the plastic basket and then use another arm to lift the plastic basket.", + "Drop the smooth red soda can into the basket with black handle using the right arm, then lift the basket with black handle with another arm.", + "Pick the gold-decorated aluminum can, set it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Use the right arm to hold the metallic soda can, drop the metallic soda can into the bright yellow basket, and lift the bright yellow basket.", + "Pick the bright red drink container can using the right arm, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.", + "Use the right arm to grab the palm-sized drink can, place it in the basket with black handle, and lift the basket with black handle.", + "Use the right arm to pick the palm-sized drink can, place it inside the yellow basket, then lift the yellow basket.", + "Pick the gold patterned beverage can with the right arm, drop it in the bright yellow basket, lift the bright yellow basket with another arm.", + "Grab the metallic soda can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots using the other arm.", + "Lift the palm-sized drink can, place it inside the handheld basket, and elevate the handheld basket.", + "Take the red can with gold illustrations with the right arm, drop it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.", + "Lift the metallic can with rounded edges, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.", + "Grab the metallic can with rounded edges, place it in the plastic basket, and lift the plastic basket upwards.", + "Hold the gold patterned beverage can using the right arm, place it in the handheld basket, and lift the handheld basket.", + "Lift the compact metal drink can, put it in the basket with arched black grip, and carry the basket with arched black grip afterward.", + "Grab the metallic can with rounded edges, drop it into the plastic basket, and raise the plastic basket.", + "Lift the palm-sized drink can, set it in the medium yellow basket with slots, and elevate the medium yellow basket with slots.", + "Take the gold-decorated aluminum can, set it into the bright yellow basket, and raise the bright yellow basket.", + "Pick up the red and gold cylindrical can with the right arm, place into the yellow basket for carrying stuff, the other arm raises the yellow basket for carrying stuff.", + "Place the smooth red soda can inside the yellow basket, then lift the yellow basket.", + "Grab the metallic can with rounded edges, set it into the handheld basket, then raise the handheld basket.", + "Take the compact metal drink can and put it in the medium yellow basket with slots, then lift the medium yellow basket with slots.", + "Place the gold-decorated aluminum can in the rectangular basket with smooth surface and then lift the rectangular basket with smooth surface.", + "Use the right arm to grab the smooth red soda can, place it into the plastic basket, and lift the plastic basket using the other arm.", + "Lift the compact metal drink can, place it in the medium yellow basket with slots, and raise the medium yellow basket with slots.", + "Take the red can, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.", + "Pick the smooth red soda can with one arm, place it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.", + "Use the right arm to take the red beverage can with curved top, drop it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.", + "Lift the compact metal drink can, drop it into the plastic basket, then carry the plastic basket.", + "Use the right arm to grab the palm-sized drink can, put it into the plastic basket, and lift the plastic basket with another arm.", + "Pick up the smooth red soda can, place it into the basket with arched black grip, then lift the basket with arched black grip.", + "Pick up the metallic soda can using the right arm, drop it into the rectangular yellow basket, and lift the rectangular yellow basket with the other arm.", + "Pick the red can, set it in the basket with black handle, and lift the basket with black handle upward.", + "Lift the compact metal drink can with the right arm, set it in the basket with arched black grip, and lift with another arm.", + "Grab the palm-sized drink can, put it in the basket with arched black grip, then raise the basket with arched black grip.", + "Grab the metallic can with rounded edges using the right arm, drop the metallic can with rounded edges into the handheld basket and lift the handheld basket.", + "Pick the metallic can with rounded edges with the right arm, set it in the yellow basket, and lift the yellow basket using another arm." + ], + "unseen": [ + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the can with gold logo design, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the can with gold logo design and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the gold and red soda can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the small aluminum can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the gold and red soda can, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, drop it into the yellow basket with open slots, then lift the yellow basket with open slots.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the gold and red soda can, put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick up the can with gold logo design, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the can with gold logo design, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the small aluminum can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the can with gold logo design, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the yellow basket with open slots, lift the yellow basket with open slots.", + "Grab the gold and red soda can and put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick up the small aluminum can, put it into the yellow basket with open slots, the other arm lifts the yellow basket with open slots.", + "Grab the can with gold logo design, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the small aluminum can, place it into the yellow basket with open slots, and lift the basket.", + "Grab the can with gold logo design, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can, put it in the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design and put it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the small aluminum can, drop it in the yellow rectangular basket with dual grips, and lift the yellow rectangular basket with dual grips.", + "Pick the small aluminum can, put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the can with gold logo design, place it into the yellow rectangular basket with dual grips, and lift the basket.", + "Grab the gold and red soda can, drop it into the yellow basket with open slots, lift the yellow basket with open slots with another arm.", + "Use the right arm to grab the can with gold logo design, put it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick up the gold and red soda can, place it in the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Use the right arm to pick the can with gold logo design, drop it into the medium-sized basket with perforated texture, then lift the medium-sized basket with perforated texture.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the small aluminum can, put it into the medium-sized basket with perforated texture, the other arm lifts the medium-sized basket with perforated texture.", + "Grab the small aluminum can, drop it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the can with gold logo design, place it into the yellow basket with open slots, and lift the basket.", + "Grab the small aluminum can, drop it into the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips with another arm.", + "Use the right arm to grab the small aluminum can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the small aluminum can, place it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, put it in the yellow rectangular basket with dual grips, lift the yellow rectangular basket with dual grips.", + "Grab the gold and red soda can and put it in the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips.", + "Use the right arm to pick up the gold and red soda can, put it into the yellow rectangular basket with dual grips, the other arm lifts the yellow rectangular basket with dual grips.", + "Grab the can with gold logo design, drop it in the yellow basket with open slots, and lift the yellow basket with open slots.", + "Pick the small aluminum can, put it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, place it into the medium-sized basket with perforated texture, and lift the basket.", + "Grab the gold and red soda can, drop it into the medium-sized basket with perforated texture, lift the medium-sized basket with perforated texture with another arm.", + "Use the right arm to grab the gold and red soda can, put it in the medium-sized basket with perforated texture, and lift the medium-sized basket with perforated texture.", + "Pick up the can with gold logo design, place it in the yellow basket with open slots, then lift the yellow basket with open slots.", + "Use the right arm to pick the gold and red soda can, drop it into the yellow rectangular basket with dual grips, then lift the yellow rectangular basket with dual grips." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/place_can_basket/ur5-wsg/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..9902f50b1819199e6b31e2bf46bbd043ad4e6618 --- /dev/null +++ b/robotwin_multiembodiments/place_can_basket/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}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base1", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base6", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base5", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base3", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base1", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, 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"071_can/base1", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_17": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_18": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_19": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base1", + "{B}": "110_basket/base0", + "{a}": "right" + } + }, + "episode_20": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base6", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_21": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_22": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base6", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_23": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, + "episode_24": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base0", + "{B}": "110_basket/base0", + "{a}": "right" + } + }, + "episode_25": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "071_can/base2", + "{B}": "110_basket/base1", + "{a}": "right" + } + }, 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